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3．中间带速度断点的前进方法..........................................................................................................58
（1）运动特征说明......................................................................................................................58
（2）舵机实际转动方向及角度..................................................................................................59
4．新增专用子程序解析......................................................................................................................61
（1）前进中右腿抬起第 1 族子程序..........................................................................................61
（2）前进中右腿落下第 2 族子程序..........................................................................................63
（3）前进中左腿抬起第 1 族子程序..........................................................................................64
（4）前进中左腿落下第 2 族子程序..........................................................................................65
5．前进第 1 族子程序解析..................................................................................................................66
（1）程序内容及算法..................................................................................................................66
（2）相关技术拓展......................................................................................................................67
五．Z、P 面分立无断点前进步伐解析......................................................................................................68
1．舵机方向制定..................................................................................................................................68
2．动作时序分析..................................................................................................................................70
3．中间无速度断点的前进方法..........................................................................................................71
（1）运动特征说明......................................................................................................................71
（2）舵机实际转动方向及角度..................................................................................................72
4．新增专用子程序解析......................................................................................................................74
（1）前进中右腿抬起第 2 族子程序..........................................................................................74
（2）前进中右腿落下第 1 族子程序..........................................................................................76
（3）前进中左腿抬起第 2 族子程序..........................................................................................77
（4）前进中左腿落下第 1 族子程序..........................................................................................79
5．前进第 2 族子程序解析..................................................................................................................80
（1）程序内容及算法（分立无断点步伐）..............................................................................80
（2）相关技术拓展......................................................................................................................81
六．第 1 类交互式前进步伐解析................................................................................................................82
1．舵机方向制定..................................................................................................................................82
2．第 1 类交互前进步伐特点..............................................................................................................84
（1）动作条件..............................................................................................................................84
（2）动作时序分析......................................................................................................................84
3．新增的 4 个子程序...........................................................................................................................85
（1）左侧身+抬右腿子程序（第 2 族）....................................................................................85
（2）右侧身+落右腿子程序（第 1 族）....................................................................................87
（3）右侧身+抬左腿子程序（第 2 族）....................................................................................88
（4）左侧身+落左腿子程序（第 1 族）....................................................................................89
4．交互后 PWM_8P1 与 PWM_8P2 子程序的合成...........................................................................90
5．PWM_16P 子程序解析...................................................................................................................90
6．第 1 类交互式前进步伐子程序指令..............................................................................................91
七．第 2 类交互式前进步伐解析................................................................................................................93
1．舵机方向制定..................................................................................................................................93
2．第 2 类交互前进步伐特点..............................................................................................................94
（1）动作条件..............................................................................................................................94
（2）动作时序分析......................................................................................................................94
3．改动的 4 个运动子程序..................................................................................................................95
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