With the advancing demands of the walking capability for the humanoid - robot , its viscoelastic and complex nonlinear structure properties must be considered to pre - sent more perfectly and precisely the walking dynamic performance 但是，随着逐渐提高的行走性能要求，需要考虑仿人机器人的本质粘弹性力学性质和复杂非线性结构特征，以更完整和精确地描述其行走动力学性能。
Chapter 2 introduced the background theories : schema theory , human simulated intelligent control theory , and sensory - motor intelligent schemas based hsic which combined by the first two applying to control the complex systems 第二章介绍了本课题研究的理论背景：图式理论、仿人智能控制理论和将二者结合而建立的适用于复杂系统控制的基于动觉智能图式的仿人智能控制理论。
In part i of this thesis , firstly we briefly introduce the concept and history of minitype humanoid robots , especially entertainmental robots . then the signific - ance and goal of our work are pointed out , and our research points are listed 论文的第一部分首先简要地介绍了小型仿人机器人的概念、发展历程以及小型仿人机器人和娱乐机器人的情况,然后介绍了本研究项目的背景和目标。
