二足性
The Library for Character Studio Biped. 两足角色库
Or you could even go half way between a quad and a biped model. 或者，你甚至可以在四足和两足模式中各取一半。”
Congratulations, humanity: bipedalism is hard work, and you're awesome at it! 两足行走是项艰苦的工作，你应该对它肃然起敬。
Therefore, any biped motion can be evaluated with the method in this paper. 该方法适用于目前常见的两足机器人自由度布置方式，因此具有一定的通用性。
Biped robot with heterogeneous legs (BRHL) is a new pattern humanoid robot. 摘要异构双腿行走机器人(BRHL)是一种全新的类人机器人模式。
