液压驱动双足机器人运动系统的设计及实现
王海燕, 李贻斌, 宁龙霄

Design and implementation of a hydraulic actuated biped robot motion system
WANG Hai-yan, LI Yi-bin, NING Long-xiao
图9 机器人负重上下台阶运动仿真
Fig.9 Simulation result for climbing stairs with load