Simulation of Dynamic Walking of Quadruped Robot and Analysis of Walking Stability

Application of Neuron in Servo Control of a Quadruped Robot

神经元在四足机器人伺服控制中的应用

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The Application of a Real-time Planning System in Legged Robot Soccer

一种持续规划系统在四足机器人足球中的应用

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Intuitive Control of a Quadruped Walking Robot Based on Virtual Model

基于虚拟模型的四足机器人直觉控制

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Typical quadruped gaits were produced by using different weight matrixes.

采用不同的权重矩阵得到四足机器人的典型步态。

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A numerical analysis was carried out for SCalf based on D-H kinematics model. The variation curves of joints angles, joints angular velocities, joints angular accelerations, cylinder displacements, cylinder velocities, cylinder accelerations were given from the analysis results.

采用基于D-H运动学模型的方法对SCalf四足机器人进行运动学数值分析，给出了单腿两个俯仰关节的关节角度、关节角速度、关节角加速度、油缸位移、油缸速度和油缸加速度变化曲线。

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Use the D-H method, build coordinate systems on all parts of quadruped robot, and define other parameters. Complete the analysis of forward kinematics and inverse kinematics of the quadruped robot, get the transformation matrix between the body and the foot coordinate system.

利用D-H杆件法，建立四足机器人各部分的坐标系，同时定义其他参数，完成了四足机器人的正运动学和逆运动学分析，得到四足机器人机体与足端位姿坐标系之间的变换矩阵。

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The kinematics and dynamics simulation of quadruped robot is are investigated in ADAMS using its planned gait, and a series of important data is acquired which verifies the rationality and exactness of design plan as well as provides valuable data information for further research on the quadruped robot.

采用规划好的四足机器人步态，在ADAMS环境下，对四足机器人进行运动学仿真和动力学仿真，获取一系列重要的数据，验证本方案设计的合理性，也为后续的研究工作提供有价值的数据信息。

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Study on gait transition between symmetrical gaits of quadrupeds based on timing sequence analysis T wave inversion was symmetrical.

基于时序分析的四足机器人对称步态变换T波倒置均呈对称性，不完全性右束支传导阻滞7例次，SV1-V5R粗钝、挫折l7例次（44.74%）。

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The result of the simulation of quadruped robot dynamic trot gait show that CMAC neural network control method is reasonable and effective, can realize the quadruped robot stable dynamic walking.

对四足机器人动态步行进行仿真，仿真结果表明，四足动态步行机器人的CMAC神经网络控制方法是合理和有效的，能够实现四足机器人的稳定动态步行。

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Hierarchical Computer Architecture of HT-1 Direct Drived Joint Quadruped Robot

HT-1关节型四足机器人的计算机分层系统结构

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To study influence factors of quadruped dynamic walking robot on walking stability, ADAMS virtual prototype software is used to simulate dynamic walking of quadruped.

为了研究影响四足机器人动态稳定步行的因素，使用ADAMS虚拟样机软件对四足步行机器人动态步行进行运动仿真。

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Using the intelligent algorithm of BP neural network to control the motion of quadruped robot, and simulates the algorithm with Matlab.

采用了BP神经网络的智能算法对四足机器人进行运动控制，并通过Matlab对算法进行了仿真。

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A Embedded Controller Hardware Platform Design for Quadruped Walking Robot Based on ARM and CPLD

基于ARM和CPLD的四足机器人嵌入式控制器硬件平台设计

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Therefore, to study the use of such conjunctions will help to evaluate the level of students' acquisition of English causal clauses to a certain degree.

因此，对原因连词运用的研究将在一定程度上有助于评估学生对英语原因状语从句习得的水平。

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Accepted by the Party, he decided to devote his life to the cause of the Party.

入党以后，他决定献身于党的事业。表原因，相当于一个原因状语从句。

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Furthermore, beside English attributive clauses have the modified and restricted functions as the Chinese attributive clauses have, and it also has the result, the cause, the condition and other adverbial functions, while the Chinese attributive clause is lack of these functions.

英语的定语从句除具有修饰和限制功能以外，还具有类似结果、原因、条件等状语从句的功能，而汉语的定语从句则缺乏这种功能。

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( Meier, 2002) Causal clause is one of the basic ways to express such relations and it is also one of the adverbial clauses that Chinese students have to possess at the beginning stage of their English learning.

原因状语从句就是表达这种因果关系的基本手段之一。中国学生在英语学习的初始阶段就被要求必须掌握这一状语从句。

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In this study, the four types of complex sentences are analyzed: sentences with temporal adverbial clauses, sentences with reason adverbial clauses, sentences with conditional adverbial clauses and sentences with concessive adverbial clauses.

该研究分析了四种类型的复合句：含有时间状语从句的复合句，含有原因状语从句的复合句，含有条件状语从句的复合句和含有让步状语从句的复合句。

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A deep wound, where the supply of blood and oxygen has been cut off, is the perfect place for certain kinds of bacteria to grow.

深的伤口是某些种类的细菌孽生的理想场所，因为那里的供血和供氧被切断。（译为原因状语从句）

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It's not that I'm unwilling to go with you, but that I'm busy now.

并不是我不愿和你去，而是因为我现在很忙。（原因状语从句）

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