两栖仿海龟机器人动力学建模与运动控制研究

芮宏斌,李路路,王天赐,段凯文

Research on dynamic modeling and motion control of amphibious turtle inspired robot

Hong-bin RUI,Lu-lu LI,Tian-ci WANG,Kai-wen DUAN

图13 力/位控制模式下支腿关节转角的变化曲线

Fig.13 Variation curve of outrigger joint angle under force/position control mode