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简述了目前步行机车体姿势感知方法，提出了一种新的“调制摆”原理及“主动跟踪自然基准”的测量方法。利用这种方法可以有效地简化感知车体姿势时产生自然基准过程中的阻尼控制问题。介绍了根据调制摆原理研制成功的车体姿势感知装置ＷＢＩ－Ｉ，内容包括其结构特点，信号处理以及摆的跟踪调制算法。
A brief description of the current posture perception method of walking machine body is presented. A new “modulation pendulum” principle and a measurement method of “active tracking of natural reference” are proposed. This method can be used to effectively simplify the damping control problem in the process of generating natural reference when sensing the vehicle body posture. The WBI-I, which is based on the principle of modulation pendulum, is introduced. Its structure, signal processing and tracking modulation are introduced.