Robotics;
Institute;
School;
of;
Mechanical;
Engineering;
and;
Automation;
Beihang;
University;
Beijing;
100083;
China;
TAMS;
Department;
Computer;
Science.;
Hamburg;
Vogt-Koelln-Strasse;
30;
22527;
Germany;
模块化机器人; 步态; 履带; 爬行; 运动学模型; 毛毛虫; 运动链; UPM;