中文摘要：

学习动物的运载行为有潜力启发机制的设计和机器人(启发简历的机器人) 的步法模式。一只蜘蛛(Ornithoctonus huwena ) 的 kinematics 特征包括腿的运动，质量(COM ) 和联合旋转的角度的中心的运动，从一个三维的运动观察系统记录的运动行为的观察被获得。我们的结果证明位置阶段的一个集合由四条腿组成，它在另外的方面上在一个方面和 leg-2 和 leg-4 上是 leg-1 和 leg-3。另外，位置阶段的二个集合包括了或者支持并且开车蜘蛛身体的运动的八条腿。蜘蛛首先由增加迈进频率增加了它的运动速度。与另外的昆虫相比，蜘蛛， O。huwena，优异运动稳定性。COM 的速度和高度周期性地在运动期间波动，到达在腿阶段的引申期间的最大值，并且掉到在稳定的位置阶段的最小。在偏转角度的小面值硬币后部腿在驾驶运动是有效的，而前肢的每个联合旋转的角度在运动期间不规则地变化了。这研究将在启发简历的机器人的设计帮助，包括步法计划和它的控制的选择。

英文摘要：

Studying the locomotive behavior of animals has the potential to inspire the design of the mechanism and gait patterns of robots （＂bio-inspired robots＂）. The kinematics characteristics of a spider （Ornithoctonus huwena）, including movement of the legs, movement of the center of mass （COM） and joint-rotation angle, were obtained from the observation of locomotion behaviors recorded by a three-dimensional locomotion observation system. Our results showed that one set of the stance phase consists of four legs, which were leg-1 and leg-3 on one side and leg-2 and leg-4 on the other side. Additionally, two sets of the stance phase comprised eight legs alternately supporting and driving the motion of the spider＇ s body. The spider primarily increased its movement velocity by increasing stride frequency. In comparison to other insects, the spider, O. huwena, has superior movement stability. The velocity and height of COM periodically fluctuated during movement, reaching a maximum during alternation of leg phase, and falling to a minimum in the steady stance phase. The small change in deflection angle of the hind-leg was effective in driving locomotion, whereas each joint-rotation angle of the fore-leg changed irregularly during locomotion. This research will help in the design of bio-inspired robots, including the selection of gait planning and its control.