轮-履-腿复合仿生机器人步态规划及越障性能分析

芮宏斌,李路路,曹伟,王天赐,段凯文,吴莹辉

Gait planning and obstacle-surmounting performance analysis of wheel-track-leg composite bionic robot

Hong-bin RUI,Lu-lu LI,Wei CAO,Tian-ci WANG,Kai-wen DUAN,Ying-hui WU

图1 海龟的身体结构和支撑域示意

Fig.1 Body structure and supporting domain diagram of turtle