Whereas the static quadruped walking can not be applied to irregular terrain , the research of walking dynamically on irregular terrain for an gorilla robot is of great importance 鉴于四足机器人静步行难以适应野外和不平坦路面等复杂地况,本文研究复杂地况条件下类人猿机器人四足动步行具有很重要的意义。
According to renovation scheme and connecting with practical river harness situation , netlike cover protection and quadruped concrete hose measurements , which are comparatively effective , are commended 根据整治方案，结合治河实际情况，推荐了网罩护根防冲和混凝土四脚体护脚这两种比较有效的护根措施。
The founder of the museum , known as the cave of caves , said the unlikely quadruped is already dying because of its condition and it will be euthanised and stuffed by a local pharmacist 该组织表示，这只罕见的4腿鸡由于身体状况急剧恶化将不久去世，人们会对它实施安乐死，然后再由当地一位药剂师将其身体填充制成标本。
To realize dynamically stable walking on irregular terrain for a quadruped walking robot , the combination of the trajectory planning of the body and leg position and the adaptive attitude control is indispensable 为了实现四足机器人在复杂地况下的稳定动步行,身体和腿部的轨迹规划及相应的姿态控制对研究起着决定性作用。
Probably if our lives were more 46 ) conformed to nature , we should not need to defend ourselves against her heats and colds , but find her our constant nurse and friend , as do plants and 47 ) quadrupeds 假如我们能改造我们的生活，和大自然更能配合一致，我们也许就无需畏惧寒暑之侵，我们将同草木走兽一样，认大自然是我们的保姆和良友，她是永远照顾着我们的。
For instance , chimpanzees , which employ a peculiar form of quadrupedalism known as knuckle walking , spend some 35 percent more calories during locomotion than does a typical mammalian quadruped of the same size ? a large dog , for example 例如黑猩猩是以所谓指节行走（译注?上肢以指关节著地）的模式行进，比起同体型的典型哺乳类以四足行走（如大型狗） ，多耗费35 %的能量。
Considering that aspartic acid ( d ) and glutamic acid ( e ) are very similar to each other , together with the biological function of the landmark , thus that the two landmarks can be regarded as no difference ; 3 ) conservative cysteine in terms of their numbers and positions in the extracellular domain . in ghr1 group , fghrl and zfghrl have seven cysteins , which are the same as that of quadruped . in ghr2 group which includes cohoghr isf1 , cohoghr isf2 , chghr , fghr2 and zfghr2 , the cysteine number and positon are very similar to each other but are different from ghr1 group . especially , the fghr2 has five cysteins that is one more than zfghr2 ; 3 ) conservative boxl domain . with all the ghrs identified so far , boxl are comprised of ppxpxp ( x represents any amino acid ) 在fghri和zfghri都为7个，数目和四足动物ghr一致;在fghrz胞外肤氨酸残基为5个， zfghrz为4个，和同属于ghrz的eohoghrisfl 、 eohoghrisfz 、 ehghr基本保持一致，但是却和传统的ghri有比较大的区别; 3 )本试验克隆和分离得到ghri和ghrz以及所有目前发表的ghr都有比较保守的boxl结构域，氨基酸组成为ppxpxp ，研究表明最后两个脯氨酸残基作用最大; 4 )在所有ghr中都完全一致的boxz ，序列为料efi ; 5 )在ghri和ghrz胞内部分都比较保守的酪氨酸残基，他们被认为在信号传导中起作用。
Because in middle youth he had often sat observing through a rondel of bossed glass of a multicoloured pane the spectacle offered with continual changes of the thoroughfare without , pedestrians , quadrupeds , velocipedes , vehicles , passing slowly , quickly , evenly , round and round and round the rim of a round precipitous globe 因为他在青壮年时，经常坐在屋里，隔着那嵌有浮凸饰的五彩圆玻璃窗子，观察外界大街上千变万化的景物：步行者四足动物脚踏车车辆，或急匆匆或慢悠悠或不紧不慢地经过，沿着垂直的圆球面的边缘滴溜溜滴溜溜滴溜溜地旋转。
Based on the analysis of the jumping theory of locust , we abstract and simplify the model , establish a quadruped jumping model , analysis the kinematics and dynamics of this model from the energy way , we give out the condition that the model can jump and the expression of height and length during each jump 通过对蝗虫起跳运动机理的分析,对其起跳模型进行简化,建立了四足跳跃机器人理论模型,从能量的角度对四足跳跃机器人的数学模型进行了运动学和动力学分析,同时给出了其离地起跳的前提条件以及单次跳跃高度和距离的表达式。
Legged robot has the high adaptability to the environment , it can be applied in the fields of scientific investigation , national defense , aerospace exploration etc , in recent years , research on biped humanoid robots and quadruped robots was most exciting topics in the field of robotics . while researchers work completely on the dynamical biped walking and the quadruped walking , there is less study on the dynamical quadruped walking ? especially on irregular terrain 由于腿式机器人对环境有较强的适应性,可应用于科学考察、国防、空间探索等诸多领域,近些年来,仿人双足步行机器人和仿生四足步行机器人一直是机器人领域非常热门的研究对象。虽然研究者们对两足机器人的动步行和四足机器人的静步行都有了非常深入的研究,但对四足机器人的动步行?特别是野外和不平坦路面等复杂地况下的动步行研究还很少。
