A Dynamic Model of an Underwater Quadruped Walking Robot Using Kane’s Method

YANG Ke (杨柯), WANG Xu-yang* (王旭阳), GE Tong (葛彤), WU Chao (吴超)

Journal of shanghai Jiaotong University (Science) . 2014, (2): 160 -168 . DOI: 10.1007/s12204-014-1485-7