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 16 机身的加速度和姿态变化

Fig.16 Acceleration and attitude change of body