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 3 COMAN机器人虚拟样机与ODE仿真环境

Fig.3 Virtual prototype of “COMAN” humanoid robot and ODE-based simulation environment