In order to distinguish these two types of transitions, a state recognition method is introduced. We firstly propose a variable contact set in which the contact points on the robot body are defined to represent the alternation of the contact states logically. Then, by predefining thresholds for the contact forces, the state transition can be well recognized.3 As another research topic, the local tracking control according to the pre-acquired state transition trajectories plays an important role in realizing the non-regular motion for the humanoid robot.

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We precompute the test patterns to make it to be encoded more easily by alternation and run-length codes. The result shows that the effect is obvious after precomputating.3. Aiming at reseeding issue in the classic fold counter technology, this paper presents a method, it doesn\'t need reseeding.

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