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~