仿尺蠖机器人曲面爬行步态分析与中枢模式发生器规划

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金英连，任杰，冯伟博，黎建军，王斌锐

Gait Analysis of an Inchworm-like Robot Climbing on Curved Surface and CPG-based Planning

JIN Ying-lian, REN Jie, FENG Wei-bo, LI Jian-jun, WANG Bin-rui

兵工学报 . 2016, (6): 1104 -1110 . DOI: 10.3969/j.issn.1000-1093.2016.06.019