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liu zu bu xing ji de neng liang wen ding xing
Pages: 13-17
Year: Issue:  3
Journal: Robot

Keyword:  walking robotenergy stabiltiytriped gait;
Abstract: This paper discusses the energy stability method of a six-legged walking robot in detail, gives and proves ageneral formula for caculating its energy stability margin. The energy stability of six-legged laterally-walking andlongitudianlly-walking robots with triped gait is analysed and a comparison between the energy stability methodand geometry stability method is given.
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