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4 轮-履-腿复合仿生机器人支腿1的D-H坐标系

Fig.4 D-H coordinate system of leg 1 of wheel-track-leg composite bionic robot