The process is just like rowing a boat. And then, the driving arm return to the primary position by the pulling from the spring.

之后驱动臂通过弹簧拉动返回初始位置，此时驱动臂下面的小轮是滚动返回的，不产生相反的摩擦力。

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The robot has link structures of whole active wheels with motor and transmission mechanism built in it, which includes six driving arm links and a body frame.

机器人采用内置电动机及传动机构的全主动轮杆式结构，包括六只驱动臂杆和机架杆。

youdao

Arm pneumatic type driving, simple construction, trouble free.

臂气压式驱动构造简单、故障机率少。

youdao

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