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Question about WBC #81

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Technician13 opened this issue Feb 14, 2022 · 0 comments
Open

Question about WBC #81

Technician13 opened this issue Feb 14, 2022 · 0 comments

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@Technician13
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Hi, I have a question about the formula(21) in your paper《highly dynamic quadruped locomotion via whole-body impulse control and model predictive control》.
2022-02-14 12-12-22 的屏幕截图
Here, I think it shouldn't be - Jc * q_dot , is there something wrong with my idea?
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@Technician13