The cycloid function is used to generate the horizontal and vertical foot trajectory respectively, and a modified cycloid function is used to make the acceleration curve of the joint more smooth and successive, the trajectory and drive moment of each join
The cycloid function is used to generate the horizontal and vertical foot trajectory respectively, and a modified cycloid function is used to make the acceleration curve of the joint more smooth and successive, the trajectory and drive moment of each join
使用摆线函数分别产生足的水平和垂直方向的运动轨迹，用修正摆线函数使其加速度进一步平滑、连续，对各关节的运动轨迹和关节驱动力矩进行了仿真。