正向机器人问题求解系统 forward robot problem solving system 正向机器人问题求解 forward robot problem-solving 基于正向规则演绎系统 forward rule based deduction system ..
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仿真结果表明：这种方法对于求解仿人型跑步机器人的正向运动学和逆向运动学问题，具有求解速度快、精度高等优点。
Simulation results show that this method has an advantage of high speed and high-precision for the forward kinematics and the inverse kinematics of the running robot.
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