关键词：两栖机器人；非线性约束；动力分配；故障容错 [gap=658]Key words： Amphibious robot； Non-linear constraints； Allocation system； Fault tolerant
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根据两栖机器人对水陆两种环境的适应需求，设计了一套水陆两用的机器人推进机构。
The paper designed a propulsive mechanism for an amphibious robot in order for it to meet the requirement of adapting itself to the two environments of water and land.
本发明涉及机器人研究和工程领域，具体是一种水陆两栖蛇形机器人关节模块。
The invention relates to the field of robot research and engineering, in particular to a joint module for an amphibious snake-like robot.
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