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tuo pu jie gou sui yun dong bian hua de guan jie shi bu xing ji qi ren dong li xue pu bian fang cheng de jian li
Author(s): 
Pages: 26-30
Year: Issue:  2
Journal: Robot

Keyword:  步行机器人拓扑结构特征机构动力学方程;
Abstract: 本文研究了系统拓扑结构随运动变化的多分支步行机构动力方程的建立方法.文中在对系统结构特征定义的基础上,将结构特征统一于约束方程,进而应用DAlembert原理建立了嵌入结构特征的步行机器人机构动力学普遍方程.最后以四足步行机构为实例进行了计算
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