甘建国, 王悦凤, 干东英. 六足步行机缩放式腿机构的运动学、动力学及控制算法[J]. 光学精密工程, 1990,(6): 34-38

Gan Jianguo, Wang Yufeng, Gan Dongying. Kinematic, Dynamic and Control Algorithm of a Pantograph Legged Mechanism for a Six-legged Walking Robot[J]. Editorial Office of Optics and Precision Engineering, 1990,(6): 34-38

甘建国, 王悦凤, 干东英. 六足步行机缩放式腿机构的运动学、动力学及控制算法[J]. 光学精密工程, 1990,(6): 34-38 DOI：

Gan Jianguo, Wang Yufeng, Gan Dongying. Kinematic, Dynamic and Control Algorithm of a Pantograph Legged Mechanism for a Six-legged Walking Robot[J]. Editorial Office of Optics and Precision Engineering, 1990,(6): 34-38 DOI：