about translation! Original Text:The implementation of this degree of freedom includes an additional angular sensing element to measure the deflection of the transmission both to provide accurate measurements of foot position to the system as well as to provide a measurement of foot force. My translation:为实现该自由度我们使用了一个附加角度敏感器测量传输装置的偏向角度以保证对足部相对于系统的位置测量的准确性以及对足部力的测量。 Hope some one can help me modify it~ Hope we can make friends through learning english.full paragraph: Hip abductor/adductor actuation: Design of the other leg actuator faced a similar challenge of needing to generate high forces during stance to ensure adhesion yet also needing to produce fast leg/foot motion during flight. Unfortunately the uncertainty about the location of the pole relative to the robot body makes a fixed kinematic solution, such as was used for the traction degree of freedom, unworkable. To overcome this we have chosen to make use of a force responsive variable transmission system modeled after the one described in [16]. The transmission, shown schematically in Fig. 5, utilizes a compliant element within the four-bar structure to effect a nearly 2:1 change in the transmission ratio of the linkage as a function of foot force. This “automatic gear shift” effectively doubles the available force which the robot can apply to squeeze the pole, ensuring ample normal force at the contact point in order to avoid slipping. Furthermore this mechanism acts as a series compliance for the abduction/adduction degree of freedom, and protects the transmission elements and motors from shock loads associated with rapid touchdown of a foot. The implementation of this degree of freedom includes an additional angular sensing element to measure the deflection of the transmission both to provide accurate measurements of foot position to the system as well as to provide a measurement of foot force.