By analyzing the characteristics of controlling this system , six phases are divided and the dividing terms are got under the thought of sensory - motor intelligent schemas based hsic ( human simulated intelligent control ) , the dividing terms are so - called time sequence programming schemas in the smis 分析該系統(tǒng)的運動控制特性,在基于動覺智能圖式的仿人智能控制理論思路指導下,將擺起倒立動作劃分為六個階段,并建立了劃分階段的條件即時序規(guī)劃圖式。