提出了仿人跑步机器人变拓扑结构动力学的分析方法。
An analysis of dynamics with changing topology for the humanoid running robot is carried out.
提出了一种对仿人型跑步机器人的运动学进行分析的新方法。
A new method was presented, which can analyze the kinematics of humanoid running robot.
基于“虚拟腿”的概念，提出了一种新的方法实现仿人型跑步机器人在矢状面内的跑步运动。
A new method based on the "virtual leg" is presented which can realize the running of humanoid running robot in sagittal plane.
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