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 8 沿y轴负方向25 N外力作用下不同策略对应的实际落脚点和实际CoM轨迹

Fig.8 Actual step locations and CoM trajectories when using different strategies under external force（25 N along − y axis）