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(yùn)動(dòng)控制特性,在基于動(dòng)覺(jué)智能圖式的仿人智能控制理論思路指導(dǎo)下,將擺起倒立動(dòng)作劃分為六個(gè)階段,并建立了劃分階段的條件即時(shí)序規(guī)劃圖式。