基于模型预测的四足机器人运动控制

秦海鹏,秦瑞,施晓芬,朱小明

Motion control of quadruped robot based on model prediction

Haipeng QIN,Rui QIN,Xiaofen SHI,Xiaoming ZHU

图 20 全向运动的姿态角速度曲线

Fig.20 Attitude angular velocity curve of omnidirectional motion