The master-slaver dual-leg coordination control was used for biped robot with heterogeneous legs(BRHL) to simplify its planning scheme, of which the key of coordination is gait tracking control.

 
  • 主从式双腿协调控制用于异构双腿行走机器人可减少规划量;控制的关键是步态轨迹跟踪.;仿生膝关节使机器人步态更加仿人;
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