仿变形虫可重构履带机器人设计与避障性能分析

张明路,刘宗厚,王经天,高强,许志凡,曹刘猛

Design and obstacle-avoidance performance analysis of amoeba-like reconfigurable tracked robot

Minglu ZHANG,Zonghou LIU,Jingtian WANG,Qiang GAO,Zhifan XU,Liumeng CAO

图14 相邻关节坐标系转换

Fig.14 Coordinate system conversion of adjacent joints