Using human ambulation as the research object,by constructing human geometrical and kinetic model,introducing auxiliary joint angle,and combining inbetweening principle with existent approach of motion control,this paper proposed a new method to control human ambulant gesture automatically and flexibly of each period.

The theory based on "assistant angle method" put forward and resolve a theory question for discussion problem of the design of slider crank mechanism on the flat with allow to use transmission angle [γ] and most prominent rapid return speciality [K_(max)].

This paper study and explore "The assistant angle method", discover and open out internal rule in crank, connecting rod length, l1, l2 and offset distance e etc dimension parameters and crank length ratio a(l1/ l2 ), mini- mum transmission angle Y.

Based on combining motion inversion fundamental with "auxiliary angle method" and the introduction of ficticious crank and rocker mechanisms,a synthesis method for designing planar double-crank mechanisms with(γminwork)max and [γ]is presente

Starting from analysing and investigating the fundamentals of designing type I and Type 11 planar crank-and-rocker mechanism in accordance with travel velocity-ratio coefficient K, this paper puts up distinct and audio-visual explanation on the existence of optimum auxiliary angle, and sets up the corresponding analytics of solving aptimum auxiliary angleλ*.