Then numerical prototype of quadruped robot is built.
然后再建立四足机器人的数字样机模型。
In this way, a quadruped robot called RALPHY has been developed.
用这种办法，步行机械人称为RALPHY被开辟出来。
In this paper, the stability problem of static walking on a slope for quadruped robot is analyzed.
本研究对四足机器人在斜面静态步行的稳定性问题进行分析。
The test shows that the filter method is more effective to the processing of quadruped robot attitude data.
试验表明该滤波方法对四足机器人姿态感知数据的处理非常有效。
The key of quadruped robot walking control is stability, choice of gait and location and gesture of arthrosis.
四足机器人爬行控制的关键是机器人稳定性的判断、步态的选择和关节位置姿态的确定。
This paper presents a new adaptive fuzzy control scheme and its application to speed servo control for a quadruped robot.
本文提出一种新的模型参考自适应模糊控制器，并应用于步行机器人关节速度伺服控制。
Based on the bionics, a kind of walking leg mechanism with elastic damping element was designed and applied to bionic quadruped robot.
基于仿生学，研制了一种具有弹性阻尼环节的步行腿机构并应用于四足仿生机器人中。
XU Yancui. Study on the Fuzzy Sliding Mode Control of the Hydraulic Driving Unit of Quadruped Robot [d]. Qinhuangdao: Yanshan University, 2013.
[11]徐艳翠。四足机器人液压驱动单元模糊滑模变结构控制研究[D]。秦皇岛：燕山大学，2013。
The results indicate that the miniaturization quadruped robot can achieve stable movement, and then it verifies reliability of the robot design.
研究结果表明，该小型化四足机器人可以实现稳定的运动，进而验证了机器人设计方案的可靠性。
In this thesis the rhythmic motion and environmental adaptability for a quadruped robot is studied by employing biological motion-controlling mechanisms and reflexes.
该论文研究利用动物节律运动和生物反射机理实现四足机器人的运动控制及环境适应性。
Due to more freedom movement characteristics of quadruped robot, this paper puts forward a effective method of a kind of servo drive controls the robot to achieve planned walking gait.
针对四足机器人多自由度运动的特点，提出了一种舵机驱动控制机器人实现所规划的行走步态的有效方法。
In order to reduce energy consumption and improve effective working time of quadruped robot in the harsh environment, the structure scheme of miniaturization quadruped robot was designed.
为降低四足机器人的工作能耗，提高其在恶劣环境下的有效工作时间，提出了一种小型化四足机器人的设计方案。
Quadruped robot possesses the preferred all-round performance in legged robot field for its better stability than biped, and the mechanism and control system is simpler than hexapod and octopod.
由于四足机器人静态稳定性能大大优于双足机器人，而且机构的冗余和控制复杂程度比六足和八足简单，因此四足结构在足式机器人领域具有较好的综合性能。
This leg mechanism not only applies to the dynamic walking quadruped, but also applies to the multi-legged robot walking at a high speed.
这种腿机构不仅适用于实现动态行走的四足步行机器人，也可适用于高速步行下的多足机器人。
To study influence factors of quadruped dynamic walking robot on walking stability, ADAMS virtual prototype software is used to simulate dynamic walking of quadruped.
为了研究影响四足机器人动态稳定步行的因素，使用ADAMS虚拟样机软件对四足步行机器人动态步行进行运动仿真。
The paper focuses on the research of gait planning and foot force control problems of the quadruped mobile robot. Gait planning of legged robot is the research hotspots and key issues all through.
本课题来源于黑龙江省科技攻关重点项目“多运动方式四足智能移动机器人的研究”，着重研究四足移动机器人的步态规划和足力控制问题。
The paper focuses on the research of gait planning and foot force control problems of the quadruped mobile robot. Gait planning of legged robot is the research hotspots and key issues all through.
本课题来源于黑龙江省科技攻关重点项目“多运动方式四足智能移动机器人的研究”，着重研究四足移动机器人的步态规划和足力控制问题。
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