复合式跳跃仿生机器人设计与分析
魏晓华,韩峰,韩晓亮,何明忠
Design and analysis of bionic robot with compound jumping
Xiaohua WEI,Feng HAN,Xiaoliang HAN,Mingzhong HE
表1
机器人腿部
D-H
模型参数
Table 1
Parameters of D-H model of robot leg
连杆
α
i
-1
/
(°)
a
i
-1
θ
i
d
i
1
0
0
θ
1
0
2
3
4
-90
0
0
0
L
2
L
3
θ
2
θ
3
θ
4
0
0
0