JTUWM- 四足机器人在关节上设置驱动器 ,高层的步行任务转化为低层关节空间的驱动控制 ,它是非直觉的 .针对这一问题 ,以虚拟驱动器模拟实际关节转矩 ,基于此虚拟驱动器的模型 ,将高层的步行任务转化为底层的关节转矩控制 ,凭直觉连续设置虚拟力使机器人不断从平衡状态进入不平衡状态 ,进而由虚拟模型得到期望转矩 ,驱动机器人进入新的平衡状态完成步行 The JTUWM-quadruped robot is a non-intuitive robot that has a driver installed on a joint and a high-level walking task transforms into a driving control of a lower joint space. In view of this problem, a virtual driver simulates an actual joint torque. Based on this virtual driver model, The high-level walking mission into the bottom of the joint torque control, intuition continuous set of virtual force so that the robot continues to enter the unbalanced state of equilibrium, and then the desired torque from the virtual model to drive the robot into a new equilibrium to complete the walk