由2自由度并联髋关节构成的脊柱式四足步行机器人步态规划和稳定性分析

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桑董辉，陈原，高军

Gait Planning and Stability Analysis of a Quadruped Robot with 2-DOF Parallel Hip and Spine Joints

SANG Donghui， CHEN Yuan， GAO Jun

兵工学报 . 2020, (6): 1188 -1200 . DOI: 10.3969/j.issn.1000-1093.2020.06.016