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 5 标准MPC与宽松初始状态MPC对比

Fig.5 Comparison of standard and loose initial state MPC