But instead of starting forward , it moved sideward and ran into bushes 但是马不但不往前跑，反而冲到旁边而跑进树丛里去了。
2.
Finally , the coupling of its forward and sideward motion revises the existing motion curves , in order to ensure that the robot can walk stably enough 结合机器人物理样机模型,利用三步规划法规划机器人行走步态,使其在平行步态下实现静态步行。
3.
Sideward bend : slowly bend the neck to one side and then the other ; use the weight of the head to stretch the neck muscles and tendons . complete in 15 to 30 seconds 侧屈运动：颈部慢慢的侧屈，在15秒到30秒之间，以头部的重量慢慢将颈部的筋拉开。
4.
And turnover glass slide in can be positioned vertically and horizontally , held upwards and sideward . the processing of glass is completed by the above main and supplementary motions . there are three grinding wheels installed in coarse grinding head to process different thickness of glass and avoid frequent replacement of gnnding heads 玻璃导入有纵向横向定位。上压紧和侧压紧。通过以上主铺运动来完成对玻璃的加工租磨磨头同时装夹三个磨轮。
5.
The thesis developed the optimization design software of geometric parameter for the worm gear including strength check module , the drawing contact lines module , the change lines of tooth thickness of worm , and the parametric modelling software for the reducer which includes parametric modelling of parts and assembly . the cad prototype system is very convenient because of its accessible interfere , simple operation and written in chinese . by input design parameters ， the cad system can make optimization design and strength check for the worm gear ， draw contact lines of tooth flank of worm - gear and change line of tooth thickness of worm ， judge if the tooth flanks of worm undercut and if the sideward tooth of worm - gear hob come to a point ， make project design and structure design for the reducer and draw its 2d parts and assembly 研究和开发了平面二次包络环面蜗杆传动的参数优化设计和校核软件系统：包括几何参数设计计算模块，强度校核模块，绘制齿面接触线模块，蜗杆齿厚变化曲线模块和蜗杆根切判别模块；开发了平面二次包络环面蜗杆减速器外形与结构尺寸数据库以及传动效率数据库，建立了平面二次包络环面蜗杆传动公差及极限偏差数据库；开发了平面二次包络环面蜗杆减速器参数化建模软件：包括零部件的参数化建模模块和装配图的参数化建模模块，其中零部件的参数化建模包括蜗杆轴系的参数化建模、蜗轮轴系的参数化建模、箱体的参数化建模、端盖的参数化建模、轴承的参数化建模和其它零部件的参数化建模软件模块。
