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探讨了三自由度新型足掌机构实际约束的特殊性，提出了简化过渡运动规划建模“假想拆掌法”和“虚拟面”概念和方法．对规划目标和影响因素进行了一定的分析．通过实际算例的计算机仿真，验证了椭圆轨迹交替三足过渡步态行走策略的可行性．
This paper discusses the particularity of the practical restraint of the new three-DOF palm mechanism and puts forward the concept and method of simplifying the “phantom removal method” and “virtual plane” of transitional motion planning. The planning objectives and influencing factors were analyzed. The computer simulation of the actual example shows that the elliptical trajectory walking three-legged transitional gait walking strategy is feasible.