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提出用周期函数G(x)和正函数H(x)表达步行机的支撑点位置,解决了在一个步态周期内轮子作多周期运动的动支撑点位置描述问题。给出并证明了支撑点位置的计算公式,进而讨论了支撑点位置的极限问题。
The periodic function G (x) and the positive function H (x) are proposed to express the position of the support points of the walking machine, which solves the problem of describing the position of the moving support points for the multi-period movement of the wheels in one gait cycle. The formula of the position of the support point is given and proved, and then the limit problem of the position of the support point is discussed.