1、采用开采用开环的控制方法,的控制方法,稳定,定,简单。#其并其并联结构决定了其控制的构决定了其控制的鲁棒性和棒性和环境适境适应性。#性。#利用步利用步态及机械及机械结构本身的自适构本身的自适应性,性,实现避避障及越障的功能,大大降低算法的障及越障的功能,大大降低算法的难度度。#没有采用没有采用传感器,成本低。#感器,成本低。#简单的控制策略决定我的控制策略决定我们步步态的多的多样化。#化。#调研调研目的及意义目的及意义调研内容调研内容调研成果及展望调研成果及展望2 21 13 3研究内容理论计算确定所需旋转块质量、转动惯量,进行重块结构设计元件选型包括驱动电机、轴承、联轴器等的计算选型机构设计
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