Abstract: A pose control method for a robot includes: estimating a first set of joint angular velocities of all joints of the robot according to a balance control algorithm; estimating a second set of joint angular velocities of all joints of the robot according to a momentum planning algorithm; estimating a third set of joint angular velocities of all joints of the robot according to a pose return-to-zero algorithm; and performing pose control on the robot according to the first set of joint angular velocities, the second set of joint angular velocities, and the third set of joint angular velocities.

Abstract: The present invention relates to the field of medical technology, and in particular, to a variety of substituted N-(5-(quinolin-6-yl)pyridin-3-yl) benzsulfamide derivatives represented by formula (1) (groups therein are as defined in the specification). The compounds according to the present invention have favorable anti-tumor activity against human lung cancer, colon cancer, liver cancer, breast cancer and glioblastoma multiforme, which contribute to development of highly effective, low toxic and high specific anti-tumor drugs, and have high value of development. The present invention also relates to a composition, preparation method and use thereof in the preparation of anti-tumor drugs.