2024-09-18Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control1.SwingLegControl\(J_i\inR^{3*3}\)是足端雅可比;\(\tau_{i,ff}\)是前馈力矩\(\Lambda\inR^{3*3}\)是操作空间惯性矩阵;\(a_{i,ref}\inR^{3*3}\)是机体坐标系下的参考加速度q是关节角度;\(C_i\dot{q}_i+G_i\)是科里奥利力和重力2.GroundForceControl\(\tau