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中文摘要：
用弹簧模仿人的腰椎，对动力学简化模型进行了线性化处理，建立状态空间方程对其进行控制，并从数学角度验证了模型的正确性．
英文摘要：
This research uses prings to imitate humanoid lumbar spine of a robot, and analyzes the problem of lumbar spine of flexibility of the botot. A simplified model is obtained, which is linearized and its equations of state are established. The simplified dynamic model is obtained by design and its structure is simple, and controlling of the model is easy and effective. Validity of the system modeling is proved through the mathematics method .
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