In this paper,reconfiguration control and obstacle-negotiation control are the study of how to control the robot\'s gesture and how to overcome the obstacles via a serial of gestures,these are the intensive topics in the filed of leg-wheel hybrid robot.

Aiming at the uneven wild terrain and requirement of high maneuverability,it designs and realizes a shock absorber for robot,and according to the characteristic of the leg-wheel hybrid robot,it designs the strategies of torque control in marches and reconfiguration control in obstacle-overcoming.

New Visual Angle of Fiscal Management Reform in China——Taking system construction fiscal transparency as a breach;

Ethical and Legal Predicaments of Medical Interference Right and Relevant System Construction

Consideration on Prosecution Guiding Investigation and Its System Construction

With the system analysis framework and from the view of system structure and incomplete contract, this paper points out the system factors, which obstruct the tradable permit policy in China, mainly result from the defect of system structure of tradable permit.

Analysis is carried out on the mechanism of tendering system and the system structure from perspective of assets right,transaction cost,principal and agent relationship of large hydroelectric power construction project.

With the system analysis framework and from the view of system structure and incomplete contract,this paper points out the system bottle-neck,which obstructs the tradable permit policy in China,mainly results from the defect of system structure of tradable permits.