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 2 双足步行足部支撑多边形与ZMP、CoM轨迹

Fig.2 Foot support polygon, ZMP trajectory and CoM trajectory for bipedal walking