the main components of motion distribution and execution framework (IMAGE)

Beijing Institute of Technology Press Co., Ltd

the main components of motion distribution and execution framework

Caption

The motion distribution part uses the command to generates the motion for the robot and provides it to the WBC. The goal of the WBC is to accurately track the trajectory results while interacting compliantly with the environment. PD: proportional–derivative. IMU: inertial measurement unit.

Credit

Aizhen Xie, Shandong University.

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