机器人的承重行走采用伞形轮来实现，伞形轮的越障运动由槽凸轮机构控制。
The robot was supported and driven by umbrella shaped wheels, whose motions of spanning obstacles were controlled by groove pulley and cam mechanism .
机器人的承重行走采用伞形轮来实现，伞形轮的越障运动由槽凸轮机构控制。
The robot was supported and driven by umbrella shaped wheels, whose motions of spanning obstacles were controlled by groove pulley and cam mechanism.
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