应用拉氏乘子法，建立了一端固定、一端自由的自然弯曲细长梁动力分析的广义泛函。

The Lagranges multiplier method is applied in this paper to set up a generalized function of dynamic analysis of the natural curved slender beams which have one built-in end and one free end.

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把两足机器人步态综合方法分为参考轨迹法和自然动力学法两大技术流派。

Gait designs were divided into two main categories: reference trajectory and natural dynamics.

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