Left swing is clockwise, and the right swing is counterclockwise, it requires you to change the direction of movement of the body, which will make the right swing strength is not enough.
左摆拳是顺时针方向的，而右摆拳是逆时针方向的，这需要你改变身体的运动方向，这样会使得右摆拳力道不够。
During the movement of the regulation annulus, it turns whirligig of the regulations arm into whirligig of the spindle, and change the whirling direction.
调整环在运动过程中把压力臂上拨叉的旋转运动转化为转轴的旋转运动，改变了旋转运动的方向。
The result of simulation indicate the algorithm can actualize track movement of robot through controlling driving torques of two wheels and change the direction corner of robot simultaneously.
仿真实验结果表明，利用该算法可以通过控制机器人两个驱动轮的驱动力矩来实现控制机器人按给定的轨迹运动，同时也能实现机器人方向角的改变。
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