关节电机驱动六足机器人仿生结构设计与柔顺运动控制

丁杨,张明路,焦鑫,李满宏

Biomimetic structure design and compliant motion control for hexapod robot driven by joint motors

Yang DING,Minglu ZHANG,Xin JIAO,Manhong LI

图8 六足机器人运动学坐标系示意

Fig.8 Schematic of kinematics coordinate system of hexapod robot