中文摘要：

采用高速摄像技术，对黄牛在春耕前的水稻田上行走时肢体的运动形态进行了分析，得到了黄牛的步态参数。利用逆向动力学方法，建立了黄牛在水稻田上行走时的运动学方程。结合实例计算结果，分析了黄牛质心的位移、速度、加速度和土壤作用力的变化，讨论了黄牛在水稻田上行走时的运动特性。该方法为研究和设计松软地面步行机械的运动方式和步法协调提供一定的理论基础。

英文摘要：

The walking process of the cattle, bostaurus, on paddy field before spring plowing was captured by the high-speed photography. The properties of the paddy soil and geometrical configurations of the hooves were studied. The geometrical configurations and motion postures of the cattle during walking on paddy field were analyzed, and the gait parameters were gained from the high-speed photographs. The inverse kinetics method was used to establish the kinematics equations of the cattle during walking on paddy field. Combined with the calculation results, the plots of the cattle during walking were drawn. The changes of displacement, velocity, acceleration and force were analyzed, and then the characteristics of the cattle during walking on paddy field were discussed. The method reported would provide certain theoretical and practical references for bionic design for improving the reasonable motion of the walking mechanisms on soft ground.