Research on cad of single footing under column 柱下独立基础计算机辅助设计系统
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Rather than scanning the horizon with their ears , elephants tend to freeze their posture and raise and lower a single foot 它们不是用耳朵搜索地平线，而是保持静止，然后提起和放下一只脚。
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A country that had no bread for him , whose fields procured him no harvest , who met with nothing but the frowns of the rich , the severity of the laws , with jails and punishments ; who owned not a single foot of the extensive surface of this planet 一个没有面包给他吃的国家，在这个国家里他的土地没有收成，他遇到的只是富人的白眼，严厉的法律，监狱和惩罚，在这广阔的星球表面上他连一寸土地都没有，他能把这个国家叫做自己的国家吗？
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The walking stability has direct relation to the gait of the robot , and whether the gait is nicer is vital to the stability . by researching of the walking habit of human being , we proceed the gait planning of biped walking robot , decide the single foot supporting and double feet supporting , and bring forward the principle of phase divided and divide a gait cycle into eight sub - phases . that guarantees the continuity , stability of the whole walking 而步行稳定性与机器人的步态有着直接的关系，良好的步态对步行机器人的稳定性来说又是至关重要的，通过对人类步行习惯的研究，对两足步行机器人进行步态规划，确定了步行机器人的单脚及双脚支撑周期，提出了分相的原则，并将一个步态周期分为八个子步相，保证了运动过程的连续、平稳，并利用zmp理论对步行机器人稳定性进行计算，给出静态稳定步行的条件。
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