In the parametric design, motion of the swing leg of biped robot is planned into a parabola to keep self balance in lateral plane and avoid coupling error;

通过对迈步腿质心进行抛物线运动规划，使两足机器人在动态步行时达到侧向自平衡，从而消除了前向和侧向模型的偶合误差；

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On analyzing the longitudinal plane motion equation and lateral plane motion equation in guided phase, the guidance logic for perpendicular impact task was devised.

通过分析导弹在导引段的纵向平面运动方程和侧向平面运动方程的特点，设计了实现垂直打击任务的制导逻辑。

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Under an unnaturally black sky is this lateral plane of illumination, because, as it turns out, we have a power outage in town.

NEWYORKER: Wakefield