ATLAS: Assume The Legs As Springs
All models are wrong, but some are useful. -- George Box
一些足式机器人相关理论的分享，因为在持续学习、整理和更新中，所以不完全保证内容的正确性和可读性。
| 001····· | 向量微分············································ | Vector Differentiation··································································· |
| 002····· | 从拉格朗日算子到运动方程···················· | From Lagrangian to Equations of Motion··········································· |
| 003····· | 两连杆双足模型求解····························· | Derivation of Two Link Biped Model················································ |
| 004····· | 三连杆双足模型求解····························· | Derivation of Three Link Biped Model·············································· |
| 005····· | 混合动力学········································· | Hybrid Dynamics········································································ |
| 006····· | 零动力学············································ | Zero Dynamics·········································································· |
| 007····· | 线性倒立摆········································· | Linear Inverted Pendulum······························································ |
| 008····· | 混合线性倒立摆··································· | Hybrid Linear Inverted Pendulum···················································· |
| 009····· | 角动量线性倒立摆································ | Angular Momentum Linear Inverted Pendulum···································· |
皖公网安备 34170202000591号