Because this robot is a prototype f

Because this robot is a prototype for the proof of concept, at
this stage the control of the robot was made off-board on a PC.
Moreover, an external power supply was wired to CLIBO. With
the USB2Dynamixel component, which provides the possibility of
communicating with the actuators using a laptop computer, we
were able to program the kinematics and equilibrium equations
and the presented locomotion algorithm. Using MATLAB we wrote
a communication program that makes it possible to read and
write data packages to the AX-12 actuators. MATLAB programming
was used to write code for the implementation of the locomotion
algorithm. CLIBO is controlled by a graphical user interface (Fig. 14
that gives the user an ability to input the desired path). It is also
used to control certain arguments such as: Z (robot’s distance from
the wall), speed of the robot and the robot’s position.

結果 (中文) 3:

因为这个机器人是用于概念验证的原型，在
这个阶段的机器人控制了场外的电脑上的。
此外，外部电源连接到clibo。与
的usb2dynamixel组成，其中
使用笔记本电脑驱动器通信提供了可能，我们
能够计划的运动和平衡方程
所提出的运动算法。用matlab我们写
通信程序可以读写的数据包
的ax-12致动器。MATLAB编程
是用于运动
算法的实现代码。clibo控制的一个图形用户界面（图14
让用户能够输入所需的路径）。它也
用于控制如某些参数：Z（从
壁机器人的距离），速度的机器人和机器人的位置。