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6 液压伺服控制系统的基本结构
Fig.6 Basic structure of the hydraulic servo control system