不确定性扰动下双足机器人动态步行的自适应鲁棒控制

袁海辉,葛一敏,甘春标

Adaptive robust control of dynamic walking of bipedal robots under uncertain disturbances

Hai-hui YUAN,Yi-min GE,Chun-biao GAN

图 4 摆动腿关节的运动学模型

Fig.4 Kinematic model of swing-leg joints