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21. 仿山羊行走步态下各关节转角的变化曲线 |
Fig.21. Change curve of rotation angle of each joint under goat-imitated walking gait |
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