Comments (2)
_pcb是躯干重心在body系下的位置(一个三维度的量),主要用于计算各个足端力在躯干重心处产生的扭矩。
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但由于规划出的足端力等都是世界坐标系即{s}系下,所以在计算时要左乘个 from body to world 的 旋转矩阵,将相关的量转化到世界坐标系下,请参考85页 图6.3 中的pg
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Related Issues (20)
- B1 simulation controller fine tuning
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- 交流群链接 HOT 1
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- Catkin_make报错 HOT 2
- Need Base Velocity of Unitree Go2 for Policy Observations HOT 7
- 关于利用unitree_guide来模拟B1 HOT 3
- 运行roslaunch unitree_move_base rvizMoveBase.launch 后出现问题 HOT 5
- ros2中的支持 HOT 1
- catkin_make报错 HOT 1
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