齐次座标
Moreover, the kinematics model was built by homogeneous coordinates while kinetics model of single-supporting was built by Lagrange function. Secondly, the movement unit on humanoid soccer robot was studied.
基于Lagrange方程建立了单脚支撑期的动力学模型。其次,对仿人足球机器人动作单元规划进行研究。
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