基于模型预测控制的仿人机器人实时步态优化

丁加涛,何杰,李林芷,肖晓晖

Real-time walking pattern optimization for humanoid robot based on model predictive control

Jia-tao DING,Jie HE,Lin-zhi LI,Xiao-hui XIAO

图 5 变步行参数行走前向足部支撑区域和ZMP、CoM轨迹

Fig.5 Forward support region，ZMP trajectories and CoM trajectory when walking with variant step parameters