每个气体调节器包括可密封阀，所述阀限定输入和输出，且每个阀包括具有活塞缸和活塞杆的活塞。

Each gas regulator includes a sealable valve that defines an input and an output, with each valve including a piston having a cylinder and a rod.

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以五杆四驱动的平面双足步行机器人为对象，研究了其动态步行的时不变步态规划和限定时间的非线性控制策略。

This paper addresses time-invariant gait planning and finite-time nonlinear control strategy for a five-link, four-actuator planar biped robot to realize dynamic walking.

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