jointed track meaning in Chinese

有缝线路

Firstly , this paper finished the general design of system control , planned the control structure and the method of generating joint track , and implemented a working mode , which included a multi - levels control scheme , off - line planning and real - time zmp errors adjustment . and all these can guarantee the flexibility for adjusting gait while the robot is walking
本文首先对人形机器人的控制系统进行总体设计,对控制结构和关节轨迹生成方式进行规划,采用分层递阶的控制结构,离线规划和zmp误差实时调整相结合的工作模式,实现机器人稳定行走时步态调整的灵活性。