For citations:

Blinov A.O., Borisov A.V., Konchina L.V., Maslova K.S. Model of the supporting leg of an anthropomorphous robot or exoskeleton with two movable links taking into account the dynamics of the electric drive. Power engineering: research, equipment, technology. Power engineering: research, equipment, technology. 2022;24(2):147-159. (In Russ.) https://doi.org/10.30724/1998-9903-2022-24-2-147-159