英语翻译用我全部的财富换这篇文章的翻译IntroductionFor the purpose of increasing

英语翻译
用我全部的财富换这篇文章的翻译
Introduction
For the purpose of increasing their performances in the field of energy efficiency and adaptability on irregular terrain many works have been made on the high level control/command and dynamical gaits.For that,various legged machines have been built.They can be gathered into three research fields:
—monopods and bipeds for dynamic balance studies.
—hexapods for high level strategies as locomotion on unknown grounds.
—quadrupeds for both static stability problems on rough terrains and dynamic stability problems at high speed gaits.
Quadruped robots give the best compromise between computation complexity and adaptability on uneven terrains.
Besides,legged robots require high natural compliance to deaden any shock when dealing with unknown environment.In this way,pneumatic actuators appear to be of great interest,They provide moreover high power output with regard to their low coat.
In this way,a quadruped robot called RALPHY has been developed.Each leg is composed of two rotational joints and two segments.Its main characteristic lies in its pneumatic actuators.Actually,each segment is composed of a piston within a pneumatic cylinder (double action at 10 bars).The piston drives a cable attached to pulleys,which convert the linear deplacement into a rotational one.
The difficulty of such a structure lies in the controller design because of the natural low damping which induced oscillations.The mathematical dynamic model of one actuated leg is actually highly non liner and time-variant,due both to the mechanical coupling effects and to the compressibility of air.Conventional feedback approaches do therefore not provide sufficient performances to enable dynamic gaits.We then propose a dynamic non linear controller which includes the compensation of the non linear compensation of the actuators effects.
So as to answer the real time and the materials constraints which are imposed by all embedded systems (available computation capacity,energy consumption,dimensions,weight…),we have retained an approach which realizes a compromise between modelisation complexity and required computation time.
For that,we decompose the robot IDM resolution in two parts.The first part is in the Coordinator lever in which the global stability of RALPHY is ensured:the distributed forces and desired trajectories problems are solved.The second one,is the Leg level in which the dynamic control of each leg is realized.An upper level,called the supervisor will determine the general gait to be applied.
后面还有一段麻烦一起翻译了~翻译了马上给分了~

介绍
为增加他们的表现领域的能源利用效率和适应性进行不规则地形已经取得了许多作品以高水平的控制/命令和动态的步法.这样,各种腿的机器已建成.他们可以被收进三个领域的研究.
-monopods为动态平衡,足.
高水平的对策-hexapods行进在未知的理由.
对于静态稳定性问题-quadrupeds崎岖的地形和动态稳定性问题,在高速度的步法.
步行机器人能给你最好的折衷办法计算复杂性和适应性在不平的地形.
除此之外,脚机器人需要很高的自然合规死板任何冲击当处理未知环境.用这种方法,气动执行机构的出现极大的兴趣,他们提供另外高功率输出关于低的外套.
用这种方法,步行机器人称为RALPHY被开发出来.每个回合是由两个旋转接头和两部分.它的主要特点在于其气动执行机构.实际上,每一段是由一个活塞在气缸(双作用于10条).活塞驱动电缆连接到滑轮,转换成一直线deplacement旋转.
这种结构的难度在于控制器的设计,因为天然的低阻尼引起振动.数学的动态模型驱动腿部实际上是一个高度非衬垫和灵敏度,由于机械耦合效应和压缩空气.传统的反馈方法还是不能提供足够的性能,使动力的步法.我们提出一个动态的非线性控制器,其中包括补偿的非线性补偿器的作用.
以回答实时和材料的约束是由所有的嵌入式系统(可用的计算能力、能耗、尺寸、重量…),我们有保留的方法,实现了modelisation妥协和复杂性,需要计算时间.
为此,我们选定的机器人IDM分辨率的两部分.第一部分是在协调员杠杆的全局稳定性,RALPHY保证:分布式部队和期望轨迹问题都解决了.第二,在腿上的动态控制水平的每一回合的实现.一个上层,叫做主管将确定一般的步态.