基于运动发散分量的四足机器人步态规划
刘明敏,曲道奎,徐方,邹风山,贾凯,宋吉来

Gait planning of quadruped robot based on divergence component of motion
Ming-min LIU,Dao-kui QU,Fang XU,Feng-shan ZOU,Kai JIA,Ji-lai SONG
图 2 状态量和系统输入量参照轨迹
Fig.2 Reference trajectory of state and input variables