Their feet were thought to be very much like ours, suggesting they had mastered bipedalism . " we noticed that in the specimens of robust australopithecines, there were characteristics of the anklebone that would have affected its bipedal locomotion, " said gary schwartz, an arizona state university anthropologist 此项研究的参与者美国亚利桑那州立大学的人类学家加里施瓦兹对此表示：“我们注意到，在粗壮型南猿的化石样本中，其踝骨的一些特性可能影响到了他们作为两足动物的运动。
Their feet were thought to be very much like ours, suggestingtheyhad mastered bipedalism . we noticed that in the specimens of robustaustralopithecines, there were characteristics of the anklebone thatwould haveaffected its bipedal locomotion, said gary schwartz, anarizonastate university anthropologist . by looking at the locationwherethe shin bone ides across the anklebone, we found that theshinbones would have been angled inward 此项研究的参与者美国亚利桑那州立大学的人类学家加里施瓦兹对此表示：“我们注意到，在粗壮型南猿的化石样本中，其踝骨的一些特性可能影响到了他们作为两足动物的运动。
Their feet were thought to be very much like ours, suggestingtheyhad mastered bipedalism . we noticed that in the specimens of robustaustralopithecines, there were characteristics of the anklebone thatwould haveaffected its bipedal locomotion, said gary schwartz, anarizonastate university anthropologist . by looking at the locationwherethe shin bone ides across the anklebone, we found that theshinbones would have been angled inward 此项研究的参与者美国亚利桑那州立大学的人类学家加里施瓦兹对此表示：“我们注意到，在粗壮型南猿的化石样本中，其踝骨的一些特性可能影响到了他们作为两足动物的运动。
As the legged system has a similar dynamics to that of three-dimensional inverted pendulum mode, whose supporting point is equivalently located at the zmp, what is more, there is dynamical relationship between the zero moment point ( zmp ) and the center of gravity ( cog ), so this paper proposed the method that controls the cog of the whole humanoid body system in real-time through the 3-d inverted pendulum based on variable zmp : first, the irregular terrain analyzed and described, the author proposed an usual obstacles-spanning method, based on the position and the shape of obstacles, the author programmed the smooth trajectory of anklebones 由于机器人的腿系统和三维倒立摆模型有着相似的动力学特征,模型的支撑点就是机器人的零力矩点zmp,另外零力矩点zmp和重心cog之间存在着动态关系,本文采用基于可变zmp的三维倒立摆动力学原理来对类人猿机器人进行质心轨迹生成。首先,通过对复杂地况进行分类统一描述,提出了一套通用的越障轨迹规划方法,结合复杂地况下障碍的位置和形状,规划了机器人连续的踝关节轨迹。
Electrical-controlled appliance includes single slice microcomputef, power supply, keyboard, liquid crystal display . the machine for body functional rehabilitation is controlled by enactment of five parameters, which are speed, range, position, frequency, time . the enactment of the five adjustable parameters used to realize six function that are anns stretching and circumrotating, wrist swing, finger stretching, crura anuckle stretching, anklebone swing 将肢体运动康复机本身选用的六项功能用以下五个参数的设定来控制，即用速度、幅度、位置、频率、时间这五个可调参数的控制来实现肢体运动康复机中上肢手臂伸屈、手臂旋转、腕关节上下左右摆动、手指伸屈、下肢膝关节伸屈、踝关节上下左右摆动六个功能。
