If failure to grasp the desired poi

If failure to grasp the desired point x, y occurs,
the robot keeps trying to grip points on a spiral path around
x, y until it succeeds. We assume the leg eventually succeeds
grasping. If it succeeds to grasp after multiple trials, the grasping
position may be far from the desired one. This may cause a special
leg configuration which may prevent the robot from advancing.
However, as mentioned, there is no a priori knowledge on the
texture of the surface, hence such assumption is inevitable.

結果 (中文) 3:

如果未能掌握所需的点x，y时，
机器人一直试图控制点周围的螺旋路径
x，y直到成功。我们假设最终成功
抓腿。如果成功把握经过多次试验，掌握
位置可能与期望。这可能会导致一种特殊的
腿结构，可以防止机器人推进
然而，如上所述，没有在表面的
纹理的先验知识，因此这样的假定是不可避免的。