Using division modeling method, the kinematics and Lagrangian dynamics models of artificial leg and intelligent bionic leg in stance phase and swing phase are built.

• 采用分割建模方法,分别建立仿生腿和人工腿的运动学模型。 采用多体系统动力学建模方法,分别建立双腿在支撑相和摆动相时,带约束和无约束的拉格朗日动力学模型。