介绍了一种双足步行机器人的起立规划方法，该方法能实现稳定而又自然流畅的起立运动，同时能保证在站立状态下执行相同的动作而不翻倒。
In this paper, we put forward a method for the biped walking robot getting up planning, which can achieve the movement of getting up stably and glidingly.
弥补了我国市域轨道由于建设标准缺失而导 致轨道形式和制式不统一的缺陷，为市域轨道的规划建设提供参考依据。
These data will serve as construction standards in suburban rail planning, and help to revise the discordant of suburban rail network due to the missing construction standards before.
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