On the basis of above work, mathematical models of creeping principle based on move-in-mud bionic robot moving in every phase of the all moving lines are built up.
在此基础上，分段建立了基于蠕动原理仿生拱泥机器人整体运动的数学模型。
The moving lines of creeping principle based on move-in-mud bionic robot are analyzed and expressing formulas of creeping principle based on move-in-mud bionic robot moving lines are built up too.
对基于蠕动原理仿生拱泥机器人的运动路线进行了分析，并推导出运动路线的表达公式。
Using classical soil mechanics theory the force analysis of bionic move-in-mud robot is processed during linear and turning movement from macroscopic view.
应用土的抗剪强度理论等经典土壤力学理论从宏观上进行拱泥机器人直行和转向时的受力分析。
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