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为了使带膝关节的双足步行机器人在不同坡度地面上都能稳定行走,本文提出了坡度切换控制策略。通过仿真实验验证了算法的有效性。
In order to make the biped walking robot with knee joint walk steadily on different slope ground, this paper proposes a control strategy of slope switching. The simulation results show the effectiveness of the algorithm.