Open Access



控制输入 控制方法
振荡器的幅值、频率 CPG控制[22]
各振荡器单元的幅值、频率 CPG控制[23]
各连接杆间的相对位置和角度 基于模型的控制[24]
连接杆间的相对角度 正弦控制[25]

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