基于运动发散分量的四足机器人步态规划 |
刘明敏,曲道奎,徐方,邹风山,贾凯,宋吉来 |
Gait planning of quadruped robot based on divergence component of motion |
Ming-min LIU,Dao-kui QU,Fang XU,Feng-shan ZOU,Kai JIA,Ji-lai SONG |
图 1 四足机器人简化为三维线性倒立摆 |
Fig.1 Simplification of quadruped robot into a 3D linear inverted pendulum |
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