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