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 2 机器人曲面适应性分析模型

Fig.2 Analysis model of robot surface adaptability