galloping write and recovery

Research on the leaping gait of four feet robot with articulated legs;

含有关节型腿的四足机器人跳跃步态研究

Based on the analysis model of quadruped robot in passive bound gait,the dynamics equations of quadruped in the phases of bound gait were derived with Lagrange method,and the transition equations between phases were presented.

在四足机器人被动跳跃步态分析模型的基础上,采用拉格朗日法推导了该步态中各运动相的动力学方程,并根据跳跃步态特征给出了基于事件的运动相转换方程。