受海龟爬行与山羊行走启发的四足仿生移动机器人多步态规划及动力学分析
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Multi-gait planning and dynamics analysis of quadruped bionic mobile robot inspired by turtle crawling and goat walking
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图20. 仿山羊行走步态下机身质心的速度曲线 |
Fig.20. Velocity curves of fuselage center of mass under goat-imitated walking gait |
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