面向移动作业的腿足机器人数字孪生系统

林俊杰,朱雅光,刘春潮,刘昊洋

Digital twin system of legged robot for mobile operation

Junjie LIN,Yaguang ZHU,Chunchao LIU,Haoyang LIU

图 11 触地条件下增加动力学加不确定性补偿后物理实体与数字孪生体之间的误差

Fig.11 Error between physical entity and digital twin after adding dynamics and uncertainty compensation under ground touch condition