摘要
在对海蟹观察的基础上．分析了海蟹足系的物理模型：建立了海蟹仿生机构模型；详细讨论了该模型的数学描述方法．推导出了其位置反解的解析式．
Based on opserving the structure and the motion of seacrabs, amechanism model imitating the crab's walking-legged system and its mathematicaldescriptive method are discussed.and the formulas of its inverse kinematics arededuled.
基金
国家自然科学基金
