刘林生, 胡秉辰, 黄起, 野饲享, 加茂光则. 二足步行机器人三维动步行的单脚支持期的理论解析及仿真[J]. 机器人, 1993, 15(6): 16-22..
LIU Linsheng, HU Bingchen, HUANG Qi, Tooru NOGAI, Kousoku KAMAO. THEORETICAL ANALYSIS AND EMULATIONS OF 3-DIMEN-SIONAL STEPPING IN A SINGLE LEG SUPPORTING PHASE OF BIPED LOCOMOTION ROBOT. ROBOT, 1993, 15(6): 16-22..
Abstract：In order to realize the three-dimentional stepping of biped locomotion robot,its ten-degree of freedon stepping process at one foot support stage were studied.A direct-kinematics and inverse-dynanics analysismethod with non-separating sagittal-plane and frontal-plane was proposed.The process emulation of thismethod was made by computer,and the result shows that the analysis method was effective.
