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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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