3Tan Guanzheng Institute of Robotics, Central South University of Technology, Changsha 410083 Zhu Jianying Department of Mechanical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016.A NEW METHOD OF MECHANISM SYNTHESIS FOR BIPED ROBOTS[J].中国有色金属学会会刊：英文版,1997,7(1):152-156.
