【摘要】 介绍了ＪＴＵＷＭ－Ⅲ型多关节四足步行机器人．设计了Ｔｒｏｔｔｉｎｇ步态，并完成了Ｔｒｏｔｉｎｇ动态步行实验．步行速度为０．２ｋｍ／ｈ，占空系数β＝０．５．更多还原

【Abstract】 The “JTUWM Ⅲ” multiple joint quadruped walking robot made by Shanghai Jiaotong University is introduced. The gait of trotting is designed and the different control modes for each free joint are used according to the trajectory of robots foot. The trotting experiment has been finished, in which the speed of quadruped walking robot is 0.2 km/h and the duty factor β is 0.5.更多还原