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 5 落足点的示意图

Fig.5 Foothold planning diagram