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 9 零冲击规划一号腿关节角度、角速度与角加速度 |
Fig.9 Joint angle, angular velocity and angular acceleration of leg one by zero impact planning |
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