管道内壁四足爬壁机器人的运动学与步态规划
李琳,薛泽浩,蔡蒂,张铁
Kinematics and gait planning of wall-climbing quadruped robot for pipeline inner wall
Lin LI,Ze-hao XUE,Di CAI,Tie ZHANG
图 11
控制系统结构图
Fig.11
Structure diagram of control system