摘要
Some 5000 years ago,the Chinese“Yellow Emperor”used mobile navigation devices to help his soldiers to march in the heavy smog generated by his enemy in the battle against Chi You,according to the record in the legendary The Classic of Moun ta ins and Seas(also known as Shan Hai Jing,formerly romanized as the Shan-hai Ching).Since then,making robots cross various rough terrains is always a challenge people trying to tackle.Compared to the wheeled or tracked mo-bile robots,legged pla tforms demonstrate better flexibility and terrain adaptability at the cost of low speed and increased control complexity.
