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2 踝关节横滚角与驱动力矩关系示意图
Fig.2 Sketch map for the relationship between the roll angle and the driving torque of the ankle joint