BACKGROUND: Studies on the dynamics of motion changes in pedal joint has been widely applied in clinical gait analysis, industrial robots and shoes making.

背景：足关节运动变化的动力学研究被广泛应用于临床步态分析、工业机器人和制鞋等领域。

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The planar motions of the tracked mobile robots are analysed in Kinematics, and skid steering has been adopted to analyse the steering of robots in dynamics.

对履带式移动机器人的平面运动进行了运动学分析，采用滑移转向方法对履带式移动机器人转向进行了动力学分析。

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In this paper, the further work and improvement about a new dynamics algorithm of robots-kane's equations algorithm of robots is presented based on the paper's authors previous work.

本文在文献的基础上，对自行推导的基于凯恩方程的机器人动力学递推算法作了进一步改进和完善。

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