{"id":95815,"date":"2026-08-26T22:48:52","date_gmt":"2026-08-26T14:48:52","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/95815.html"},"modified":"2026-08-26T22:48:52","modified_gmt":"2026-08-26T14:48:52","slug":"mit-cheetah-software%e6%9e%b6%e6%9e%84%e8%a7%a3%e6%9e%90","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/95815.html","title":{"rendered":"MIT Cheetah-Software\u67b6\u6784\u89e3\u6790"},"content":{"rendered":"<ul>\n<li>\n<h2>\u524d\u8a00<\/h2>\n<\/li>\n<\/ul>\n<p>MIT Cheetah \u662f MIT \u4eff\u751f\u673a\u5668\u4eba\u5b9e\u9a8c\u5ba4\u5728\u91d1\u76f8\u57f9&#xff08;Sangbae Kim&#xff09;\u6559\u6388\u4e3b\u6301\u4e0b\u53d1\u5c55\u7684\u7535\u52a8\u56db\u8db3\u673a\u5668\u4eba\u7cfb\u5217&#xff08;Cheetah 1\/2\/3 \u4e0e Mini Cheetah&#xff09;\u3002\u5b83\u7528\u53ef\u53cd\u9a71\u3001\u9ad8\u8f6c\u77e9\u5bc6\u5ea6\u7684\u672c\u4f53\u611f\u53d7\u6267\u884c\u5668\u53d6\u4ee3\u6db2\u538b&#xff0c;\u4f7f\u673a\u5668\u4eba\u5728\u9ad8\u901f\u5954\u8dd1\u3001\u8d8a\u969c\u8df3\u8dc3\u4e43\u81f3\u540e\u7a7a\u7ffb\u7684\u540c\u65f6&#xff0c;\u628a\u8fd0\u8f93\u6210\u672c\u505a\u5230\u4e0e\u52a8\u7269\u76f8\u5f53&#xff0c;\u5e76\u8bc1\u660e\u52a8\u6001\u6b65\u6001\u53ef\u7528\u673a\u8f7d\u51f8\u6a21\u578b\u9884\u6d4b\u63a7\u5236\u5b9e\u65f6\u6c42\u89e3\u30022019 \u5e74\u5f00\u6e90\u7684 Cheetah-Software \u628a\u4eff\u771f\u4e0e\u771f\u673a\u63a7\u5236\u6253\u6210\u540c\u4e00\u5957\u53ef\u590d\u73b0\u6846\u67b6&#xff0c;Mini Cheetah \u5219\u628a\u5927\u578b\u6837\u673a\u201c\u4e0d\u6562\u8bd5\u3001\u574f\u4e00\u6b21\u4fee\u4e00\u4e2a\u6708\u201d\u53d8\u6210\u53ef\u65e5\u590d\u4e00\u65e5\u8fed\u4ee3\u7684\u7814\u7a76\u5e73\u53f0\u3002\u8be5\u9879\u76ee\u6539\u5199\u4e86\u201c\u9ad8\u6027\u80fd\u817f\u8db3\u5fc5\u987b\u7528\u6db2\u538b\u201d\u7684\u9ed8\u8ba4\u8def\u5f84&#xff0c;\u6210\u4e3a\u540e\u6765\u51c6\u76f4\u9a71\u56db\u8db3\u3001\u9ad8\u6821\u8bfe\u7a0b\u4e0e Unitree \u7b49\u5f00\u6e90\u751f\u6001\u7684\u91cd\u8981\u57fa\u7ebf&#xff0c;\u5e76\u5411 Boston Dynamics\u3001\u4eba\u5f62\u516c\u53f8\u53ca\u591a\u6240\u9ad8\u6821\u8f93\u9001\u4e86\u6838\u5fc3\u4eba\u624d&#xff0c;\u662f\u5f53\u4ee3\u817f\u8db3\u673a\u5668\u4eba\u4ece\u5b9e\u9a8c\u5ba4\u6837\u673a\u8d70\u5411\u53ef\u590d\u5236\u7814\u7a76\u57fa\u7840\u8bbe\u65bd\u7684\u6807\u5fd7\u6027\u5de5\u4f5c\u3002<br \/>\nCheetah-Software \u662f MIT Biomimetics \u5b9e\u9a8c\u5ba4\u4e3a Mini Cheetah \u4e0e Cheetah 3 \u5199\u7684\u673a\u5668\u4eba\u63a7\u5236\u4e0e\u4eff\u771f\u8f6f\u4ef6\u3002\u5b83\u628a\u300c\u9ad8\u5c42\u8fd0\u52a8\u63a7\u5236\u300d\u548c\u300c\u5e95\u5c42\u786c\u4ef6\/\u4eff\u771f\u300d\u62c6\u5f00&#xff1a;\u540c\u4e00\u5957 RobotController \u65e2\u80fd\u6302\u5230 Qt \u4eff\u771f\u5668&#xff0c;\u4e5f\u80fd\u6302\u5230\u771f\u5b9e\u673a\u8f7d\u7535\u8111\u3002\u672c\u6587\u5c06\u7528Kruchten 4&#043;1 \u67b6\u6784\u89c6\u56fe\u6a21\u578b\u6765\u5206\u6790Cheetah-Software\u67b6\u6784\u3002<\/p>\n<ul>\n<li>\n<h2>Kruchten 4&#043;1 \u67b6\u6784\u89c6\u56fe\u6a21\u578b\u7b80\u4ecb<\/h2>\n<\/li>\n<\/ul>\n<p>Kruchten 4&#043;1 \u89c6\u56fe\u6a21\u578b&#xff08;Philippe Kruchten&#xff0c;1995&#xff0c;IEEE Software&#xff09;\u7528\u6765\u89e3\u51b3\u4e00\u4ef6\u4e8b&#xff1a;\u8f6f\u4ef6\u67b6\u6784\u5f88\u96be\u7528\u4e00\u5f20\u56fe\u8bf4\u6e05&#xff0c;\u56e0\u4e3a\u7528\u6237\u3001\u5f00\u53d1\u8005\u3001\u7cfb\u7edf\u5de5\u7a0b\u5e08\u3001\u9879\u76ee\u7ecf\u7406\u5173\u5fc3\u7684\u4e0d\u662f\u540c\u4e00\u4ef6\u4e8b\u3002\u4e8e\u662f\u7528\u56db\u4e2a\u5e76\u5217\u89c6\u56fe\u5206\u522b\u5199\u67b6\u6784&#xff0c;\u518d\u7528\u4e00\u7ec4\u573a\u666f\u628a\u5b83\u4eec\u4e32\u8d77\u6765\u3001\u9a8c\u8bc1\u8d77\u6765&#xff0c;\u6240\u4ee5\u53eb 4&#043;1\u3002<br \/>\nKruchten 4&#043;1 \u67b6\u6784\u89c6\u56fe\u6a21\u578b\u5305\u62ec\u56db\u4e2a\u89c6\u56fe&#xff0c;\u5373\u903b\u8f91\u89c6\u56fe\u3001\u8fdb\u7a0b\u89c6\u56fe\u3001\u5f00\u53d1\u89c6\u56fe \u3001\u7269\u7406\u89c6\u56fe&#xff1b;<br \/>\n\u201c&#043;1\u201d&#xff1a;\u573a\u666f \/ \u7528\u4f8b\u89c6\u56fe\u3002<br \/>\n\u9009\u5c11\u91cf\u5173\u952e\u7528\u4f8b&#xff08;\u573a\u666f&#xff09;&#xff0c;\u753b\u51fa\u5bf9\u8c61\u4e4b\u95f4\u3001\u8fdb\u7a0b\u4e4b\u95f4\u7684\u4ea4\u4e92\u3002\u5b83\u7528\u6765\u53d1\u73b0\u67b6\u6784\u5143\u7d20\u3001\u8bf4\u660e\u56db\u4e2a\u89c6\u56fe\u5982\u4f55\u534f\u540c\u3001\u6821\u9a8c\u8bbe\u8ba1\u662f\u5426\u7ad9\u5f97\u4f4f\u3002\u56e0\u4e3a\u5185\u5bb9\u548c\u53e6\u5916\u56db\u4e2a\u6709\u91cd\u53e0&#xff0c;\u6240\u4ee5\u4e0d\u662f\u7b2c\u4e94\u6839\u5e76\u5217\u7684\u67f1\u5b50&#xff0c;\u800c\u662f\u7c98\u5408\u5242&#xff0c;\u6240\u4ee5\u5199\u4f5c &#043;1\u3002<br \/>\n&#xff08;1&#xff09;\u903b\u8f91\u89c6\u56fe&#xff08;Logical View&#xff09;&#xff1a;\u63cf\u8ff0\u7cfb\u7edf\u9759\u6001\u7ed3\u6784&#xff0c;\u89e3\u51b3\u529f\u80fd\u5982\u4f55\u5206\u89e3\u3002\u805a\u7126\u8f6f\u4ef6\u5185\u90e8\u7684\u529f\u80fd\u6a21\u5757\u3001\u9886\u57df\u5bf9\u8c61\u3001\u804c\u8d23\u5212\u5206&#xff0c;\u662f\u67b6\u6784\u6700\u6838\u5fc3\u7684\u4e1a\u52a1\u84dd\u56fe\u3002\u9762\u5411\u5bf9\u8c61\u65f6\u5c31\u662f\u7c7b\/\u5bf9\u8c61\u53ca\u5176\u5173\u7cfb\u3002<br \/>\n&#xff08;2&#xff09;\u8fdb\u7a0b\u89c6\u56fe&#xff08;Process View&#xff09;&#xff1a;\u8fd0\u884c\u65f6\u8c01\u5728\u8dd1\u3001\u5982\u4f55\u5e76\u53d1\u4e0e\u901a\u4fe1\u3002\u5173\u6ce8\u6027\u80fd\u3001\u53ef\u7528\u6027\u3001\u4f38\u7f29&#xff0c;\u5bf9\u5e94\u975e\u529f\u80fd\u9700\u6c42\u3002<br \/>\n&#xff08;3&#xff09;\u5f00\u53d1\u89c6\u56fe&#xff08;Development View&#xff09;&#xff1a;\u4ee3\u7801\u3001\u6a21\u5757\u3001\u5305\u3001\u5e93\u5728\u5f00\u53d1\u73af\u5883\u91cc\u600e\u4e48\u7ec4\u7ec7&#xff0c;\u9762\u5411\u7a0b\u5e8f\u5458\u548c\u914d\u7f6e\u7ba1\u7406\u3002<br \/>\n&#xff08;4&#xff09;\u7269\u7406\u89c6\u56fe (Physical View)&#xff1a;\u8f6f\u4ef6\u5982\u4f55\u843d\u5230\u673a\u5668\u548c\u7f51\u7edc\u4e0a&#xff0c;\u9762\u5411\u7cfb\u7edf\u5de5\u7a0b\u5e08&#xff0c;\u5173\u5fc3\u5206\u5e03\u3001\u62d3\u6251\u3001\u5bb9\u9519\u3002<br \/>\n\u4e0b\u6587\u5c06\u4ee5\u8fd9\u56db\u4e2a\u89c6\u56fe\u4e3a\u89c6\u89d2&#xff0c;\u5bf9Cheetah-Software\u5c55\u5f00\u4ecb\u7ecd\u3002<\/p>\n<h2>1. \u903b\u8f91\u89c6\u56fe<\/h2>\n<p>\u903b\u8f91\u89c6\u56fe\u63cf\u8ff0\u529f\u80fd\u5206\u89e3&#xff1a;\u8c01\u8d1f\u8d23\u611f\u77e5\u3001\u8c01\u8d1f\u8d23\u51b3\u7b56\u3001\u8c01\u8d1f\u8d23\u6267\u884c\u3002\u672c\u9879\u76ee\u7684\u6838\u5fc3\u62bd\u8c61\u662f\u300c\u540c\u4e00\u5957\u63a7\u5236\u4ee3\u7801&#xff0c;\u5bf9\u4eff\u771f\u548c\u771f\u673a\u957f\u5f97\u4e00\u6837\u300d\u3002<\/p>\n<h3>1.1 \u5206\u5c42\u529f\u80fd\u7ed3\u6784<\/h3>\n<h4>1.1.1 \u5e94\u7528\u63a7\u5236\u5c42&#xff08;user&#xff09;<\/h4>\n<ul>\n<li>\u7528\u6237\u5199\u4e00\u4e2a\u7ee7\u627f RobotController \u7684\u7c7b&#xff0c;\u5b9e\u73b0 initializeController()\u3001runController()\u3002<\/li>\n<li>\u4e3b\u63a7\u5236\u5668\u662f MIT_Controller&#xff1b;\u53e6\u5916\u8fd8\u6709 JPos_Controller\u3001Example_Leg_InvDyn\u3001MiniCheetahSpi_Controller \u8fd9\u7c7b\u793a\u4f8b\u3002<\/li>\n<li>MIT_Controller \u5185\u90e8\u7528 ControlFSM \u8c03\u5ea6\u884c\u4e3a&#xff0c;\u800c\u4e0d\u662f\u628a\u6240\u6709\u7b97\u6cd5\u5806\u5728\u4e00\u4e2a run() \u91cc\u3002<\/li>\n<\/ul>\n<h4>1.1.2 \u8fd0\u884c\u6846\u67b6\u5c42&#xff08;robot&#xff09;<\/h4>\n<ul>\n<li>RobotRunner \u4ee5\u56fa\u5b9a\u5468\u671f\u8c03\u7528\u4f30\u8ba1\u5668\u3001\u817f\u90e8\u63a5\u53e3\u3001\u7528\u6237\u63a7\u5236\u5668\u3002<\/li>\n<li>SimulationBridge \/ HardwareBridge \u628a\u300c\u4eff\u771f\u5171\u4eab\u5185\u5b58\u300d\u6216\u300c\u771f\u673a\u603b\u7ebf\u300d\u9002\u914d\u6210\u540c\u4e00\u5957\u6307\u9488&#xff1a;IMU\u3001\u817f\u6570\u636e\u3001\u624b\u67c4\u3001\u53ef\u89c6\u5316\u3002<\/li>\n<li>main_helper() \u6839\u636e\u547d\u4ee4\u884c m|3&#xff08;\u673a\u578b&#xff09;\u548c s|r&#xff08;\u4eff\u771f\/\u771f\u673a&#xff09;\u9009\u62e9\u6865\u63a5\u3002<\/li>\n<\/ul>\n<h4>1.1.3 \u516c\u5171\u7b97\u6cd5\u5c42&#xff08;common&#xff0c;\u5e93\u540d biomimetics&#xff09;<\/h4>\n<ul>\n<li>\u52a8\u529b\u5b66&#xff1a;Quadruped\u3001FloatingBaseModel\u3001DynamicsSimulator\u3002<\/li>\n<li>\u817f\u63a7\u5236&#xff1a;LegController \u5c4f\u853d Mini Cheetah \u7684 SPI Spine \u4e0e Cheetah 3 \u7684 TI Board\u3002<\/li>\n<li>\u72b6\u6001\u4f30\u8ba1&#xff1a;StateEstimatorContainer \u53ef\u63d2\u62d4\u591a\u4e2a GenericEstimator\u3002<\/li>\n<li>\u6b65\u6001\u4e0e\u8db3\u7aef\u8f68\u8ff9&#xff1a;GaitScheduler\u3001FootSwingTrajectory\u3002<\/li>\n<\/ul>\n<h4>1.1.4 \u4eff\u771f\u8868\u73b0\u5c42&#xff08;sim&#xff09;<\/h4>\n<ul>\n<li>Simulation \u505a\u521a\u4f53\u79ef\u5206\u3001\u78b0\u649e\u3001\u4f4e\u5c42\u677f\u5361\u4eff\u771f\u3002<\/li>\n<li>Graphics3D &#043; SimControlPanel \u63d0\u4f9b Qt \u754c\u9762\u3001\u624b\u67c4\u3001\u53c2\u6570\u9762\u677f\u3002<\/li>\n<\/ul>\n<h4>1.1.5 \u903b\u8f91\u89c6\u56fe&#xff1a;\u529f\u80fd\u5206\u5c42\u56fe<\/h4>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260826144847-6a8efccfc8f04.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h3>1.2 \u63a7\u5236\u95ed\u73af\u4e2d\u7684\u5173\u952e\u5bf9\u8c61<\/h3>\n<p>\u4e00\u6b21\u63a7\u5236\u5468\u671f&#xff08;RobotRunner::run()&#xff09;\u7684\u903b\u8f91\u987a\u5e8f\u5982\u4e0b\u3002<\/p>\n<h4>1.2.1 \u72b6\u6001\u4f30\u8ba1<\/h4>\n<p>1&#xff09;StateEstimatorContainer::run() \u4f9d\u6b21\u8dd1\u5df2\u6ce8\u518c\u7684\u4f30\u8ba1\u5668\u3002<br \/>\n2&#xff09;\u771f\u673a\/\u6b63\u5e38\u4eff\u771f&#xff1a;VectorNavOrientationEstimator&#xff08;\u59ff\u6001\u6765\u81ea IMU \u56db\u5143\u6570&#xff09;&#043; LinearKFPositionVelocityEstimator&#xff08;18 \u7ef4\u5361\u5c14\u66fc\u6ee4\u6ce2&#xff0c;\u4f30\u8ba1\u4f4d\u7f6e\/\u901f\u5ea6&#xff09;\u3002<br \/>\n3&#xff09;cheater_mode \u6253\u5f00\u65f6&#xff1a;\u6539\u7528 CheaterOrientationEstimator \u4e0e CheaterPositionVelocityEstimator&#xff0c;\u76f4\u63a5\u8bfb\u4eff\u771f\u771f\u503c\u3002<br \/>\n4&#xff09;ContactEstimator \u59cb\u7ec8\u53c2\u4e0e&#xff0c;\u63d0\u4f9b\u8db3\u7aef\u63a5\u89e6\u76f8\u4f4d\u3002<\/p>\n<h4>1.2.2 \u4f20\u611f\u540c\u6b65&#xff08;setupStep&#xff09;<\/h4>\n<p>1&#xff09;Mini Cheetah&#xff1a;LegController::updateData(SpiData*)\u3002<br \/>\n2&#xff09;Cheetah 3&#xff1a;LegController::updateData(TiBoardData*)\u3002<br \/>\n3&#xff09;\u5f97\u5230\u6bcf\u6761\u817f\u7684 q, qd, p, v, J&#xff08;\u5173\u8282\u89d2\/\u89d2\u901f\u5ea6\u3001\u9acb\u5750\u6807\u7cfb\u8db3\u7aef\u4f4d\u7f6e\/\u901f\u5ea6\u3001\u96c5\u53ef\u6bd4&#xff09;\u3002<\/p>\n<h4>1.2.3 \u7528\u6237\u63a7\u5236<\/h4>\n<p>1&#xff09;\u524d\u82e5\u5e72\u5468\u671f\u5148\u7981\u817f\u3001\u518d\u7531 JPosInitializer \u628a\u5173\u8282\u6536\u5230\u521d\u59cb\u59ff\u6001\u3002<br \/>\n2&#xff09;\u4e4b\u540e\u8c03\u7528 _robot_ctrl-&gt;runController()\u3002\u5bf9 MIT \u63a7\u5236\u5668\u5373&#xff1a;\u6b65\u6001\u8c03\u5ea6 \u2192 \u671f\u671b\u72b6\u6001\u8f6c\u6362 \u2192 ControlFSM::runFSM()\u3002<\/p>\n<h4>1.2.4 \u6307\u4ee4\u4e0b\u53d1&#xff08;finalizeStep&#xff09;<\/h4>\n<p>1&#xff09;LegController::updateCommand() \u628a\u5173\u8282 PD\u3001\u7b1b\u5361\u5c14 PD\u3001\u529b\u77e9\u524d\u9988\u3001\u529b\u524d\u9988\u53e0\u52a0\u540e\u5199\u5165 SpiCommand \u6216 TiBoardCommand\u3002<br \/>\n2&#xff09;\u540c\u65f6\u7528 LCM \u53d1\u5e03 leg_control_data\u3001leg_control_command\u3001state_estimator\u3002<\/p>\n<h4>1.2.5 \u903b\u8f91\u89c6\u56fe&#xff1a;\u5355\u5468\u671f\u63a7\u5236\u6570\u636e\u6d41\u56fe<\/h4>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260826144848-6a8efcd05efcc.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h3>1.3 MIT \u63a7\u5236\u5668\u6709\u9650\u72b6\u6001\u673a<\/h3>\n<p>control_mode&#xff08;\u4eff\u771f\u9762\u677f\u6216 RC&#xff09;\u51b3\u5b9a\u5f53\u524d\u884c\u4e3a\u3002\u72b6\u6001\u5b9a\u4e49\u89c1 FSM_State.h\u3002<\/p>\n<table>\n<tr>\u6a21\u5f0f\u53f7\u72b6\u6001\u540d\u804c\u8d23<\/tr>\n<tbody>\n<tr>\n<td>0<\/td>\n<td>PASSIVE<\/td>\n<td>\u4e0d\u51fa\u529b&#xff0c;\u5b89\u5168\u9ed8\u8ba4\u6001<\/td>\n<\/tr>\n<tr>\n<td>1<\/td>\n<td>STAND_UP<\/td>\n<td>\u5173\u8282\u63d2\u503c\u7ad9\u8d77<\/td>\n<\/tr>\n<tr>\n<td>3<\/td>\n<td>BALANCE_STAND<\/td>\n<td>\u5e73\u8861\u7ad9\u7acb&#xff08;QP \u5e73\u8861\u63a7\u5236\u5668&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>4<\/td>\n<td>LOCOMOTION<\/td>\n<td>\u51f8\u4f18\u5316 MPC \u6b65\u6001\u884c\u8d70<\/td>\n<\/tr>\n<tr>\n<td>6<\/td>\n<td>RECOVERY_STAND<\/td>\n<td>\u8dcc\u5012\u540e\u6062\u590d\u7ad9\u7acb<\/td>\n<\/tr>\n<tr>\n<td>8<\/td>\n<td>VISION<\/td>\n<td>\u89c6\u89c9 MPC&#xff08;\u9ad8\u5ea6\u56fe\/\u969c\u788d&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>9<\/td>\n<td>BACKFLIP<\/td>\n<td>\u540e\u7a7a\u7ffb\u5f00\u73af\/\u6570\u636e\u56de\u653e<\/td>\n<\/tr>\n<tr>\n<td>11<\/td>\n<td>FRONTJUMP<\/td>\n<td>\u524d\u8df3<\/td>\n<\/tr>\n<tr>\n<td>51<\/td>\n<td>JOINT_PD<\/td>\n<td>\u5173\u8282\u7a7a\u95f4 PD \u8c03\u8bd5<\/td>\n<\/tr>\n<tr>\n<td>52<\/td>\n<td>IMPEDANCE_CONTROL<\/td>\n<td>\u7b1b\u5361\u5c14\u963b\u6297\u8c03\u8bd5<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>1.3.1 \u72b6\u6001\u5bf9\u8c61\u5171\u6027<\/h4>\n<ul>\n<li>\u6bcf\u4e2a\u72b6\u6001\u5b9e\u73b0 onEnter \/ run \/ checkTransition \/ transition \/ onExit\u3002<\/li>\n<li>\u5171\u4eab ControlFSMData&#xff1a;\u56db\u8db3\u6a21\u578b\u3001\u4f30\u8ba1\u5668\u3001\u817f\u63a7\u5236\u5668\u3001\u6b65\u6001\u3001\u671f\u671b\u72b6\u6001\u3001\u673a\u5668\u4eba\u53c2\u6570\u3001\u7528\u6237\u53c2\u6570\u3002<\/li>\n<li>SafetyChecker \u5728 FSM \u524d\u540e\u505a\u59ff\u6001\u5b89\u5168\u3001\u8db3\u7aef\u671f\u671b\u4f4d\u7f6e\u3001\u524d\u9988\u529b\u9650\u5e45\u3002<\/li>\n<\/ul>\n<h4>1.3.2 \u884c\u8d70\u72b6\u6001\u7684\u4e24\u7ea7\u4f18\u5316<\/h4>\n<ul>\n<li>ConvexMPCLocomotion&#xff1a;\u7528 qpOASES \/ OSQP \/ JCQP \u89e3\u51f8 MPC&#xff0c;\u5f97\u5230\u672a\u6765\u5730\u53cd\u529b\u548c\u843d\u8db3\u3002<\/li>\n<li>WBC_Ctrl &#043; WBIC&#xff1a;\u5728\u52a8\u529b\u5b66\u7ea6\u675f\u4e0b\u628a\u4efb\u52a1&#xff08;\u673a\u8eab\u4f4d\u59ff\u3001\u8db3\u7aef&#xff09;\u6620\u5c04\u6210\u5173\u8282\u529b\u77e9&#xff1b;\u4efb\u52a1\u96c6\u5305\u62ec BodyPosTask\u3001BodyOriTask\u3001LinkPosTask\u3001JPosTask \u7b49\u3002<\/li>\n<li>GaitScheduler \u63d0\u4f9b STAND \/ TROT \/ BOUND \/ GALLOP \/ PRONK \u7b49\u76f8\u4f4d\u8868\u3002<\/li>\n<\/ul>\n<h4>1.3.3 \u903b\u8f91\u89c6\u56fe&#xff1a;ControlFSM \u72b6\u6001\u673a<\/h4>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260826144848-6a8efcd0a6105.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h3>1.4 \u52a8\u529b\u5b66\u4e0e\u4eff\u771f\u5bf9\u8c61<\/h3>\n<h4>1.4.1 \u673a\u5668\u4eba\u6a21\u578b<\/h4>\n<ul>\n<li>MiniCheetah.h \/ Cheetah3.h \u586b\u51e0\u4f55\u3001\u60ef\u91cf\u3001\u51cf\u901f\u6bd4&#xff0c;\u751f\u6210 Quadruped\u3002<\/li>\n<li>FloatingBaseModel \u662f Featherstone \u6d6e\u52a8\u57fa\u521a\u4f53\u6811&#xff0c;\u6bcf\u4e2a\u5173\u8282\u8fd8\u5e26\u8f6c\u5b50&#xff08;gear constraint&#xff09;\u3002<\/li>\n<li>FBModelState \u5b58\u673a\u8eab\u4f4d\u59ff\/\u901f\u5ea6\u4e0e\u5173\u8282 q, qd\u3002<\/li>\n<\/ul>\n<h4>1.4.2 \u4eff\u771f\u5668<\/h4>\n<ul>\n<li>DynamicsSimulator \u7528 ABA&#xff08;Articulated Body Algorithm&#xff09;\u6c42\u52a0\u901f\u5ea6&#xff0c;\u518d\u79ef\u5206\u3002<\/li>\n<li>\u78b0\u649e&#xff1a;CollisionPlane \/ CollisionBox \/ CollisionMesh&#xff0c;\u63a5\u89e6\u53ef\u7528\u51b2\u91cf\u6216\u5f39\u7c27\u963b\u5c3c&#xff08;use_spring_damper&#xff09;\u3002<\/li>\n<li>ImuSimulator \u6309 yaml \u566a\u58f0\u53c2\u6570\u4f2a\u9020 VectorNav \u6570\u636e\u3002<\/li>\n<li>SpineBoard \/ TI_BoardControl \u5728\u4eff\u771f\u91cc\u590d\u73b0\u771f\u673a\u5e95\u5c42\u677f\u5361&#xff0c;\u4f7f\u63a7\u5236\u5668\u9762\u5bf9\u7684\u63a5\u53e3\u4e0e\u771f\u673a\u4e00\u81f4\u3002<\/li>\n<\/ul>\n<h4>1.4.3 \u817f\u90e8\u63a7\u5236\u8bed\u4e49&#xff08;\u9acb\u5750\u6807\u7cfb&#xff09;<\/h4>\n<ul>\n<li>\u673a\u4f53\u7cfb&#xff1a;x \u5411\u524d\u3001y \u5411\u5de6\u3001z \u5411\u4e0a\u3002<\/li>\n<li>\u817f\u5e8f\u53f7&#xff1a;\u53f3\u524d 0\u3001\u5de6\u524d 1\u3001\u53f3\u540e 2\u3001\u5de6\u540e 3\u3002<\/li>\n<li>(q_abad, q_hip, q_knee) &#061; (0,0,0) \u8868\u793a\u817f\u7ad6\u76f4\u5411\u4e0b\u3002<\/li>\n<li>\u5173\u8282 PD \u5728\u7535\u673a\u9a71\u52a8\u5668\u4e0a\u4ee5\u7ea6 40 kHz \u6267\u884c&#xff1b;\u9ad8\u5c42 runController \u7ea6 1 kHz&#xff08;Cheetah 3 \u4e3a 1 ms&#xff0c;Mini Cheetah \u9ed8\u8ba4 2 ms&#xff09;\u3002<\/li>\n<\/ul>\n<h3>1.5 \u903b\u8f91\u89c6\u56fe\u5c0f\u7ed3<\/h3>\n<p>\u903b\u8f91\u4e0a\u8fd9\u662f\u4e00\u6761\u7ecf\u5178\u7684\u300c\u4f30\u8ba1 \u2192 \u89c4\u5212 \u2192 \u5168\u8eab\u63a7\u5236 \u2192 \u817f\u7ea7 PD\u300d\u7ba1\u9053&#xff0c;\u5916\u52a0 FSM \u628a\u7ad9\u7acb\u3001\u884c\u8d70\u3001\u7279\u6280\u3001\u6025\u505c\u5207\u5f00\u3002RobotController \u662f\u552f\u4e00\u5bf9\u7528\u6237\u5f00\u653e\u7684\u6269\u5c55\u70b9&#xff0c;\u4eff\u771f\u4e0e\u771f\u673a\u5728\u8fd9\u4e00\u5c42\u4e0d\u53ef\u533a\u5206\u3002<\/p>\n<h2>2. \u8fdb\u7a0b\u89c6\u56fe<\/h2>\n<p>\u8fdb\u7a0b\u89c6\u56fe\u63cf\u8ff0\u8fd0\u884c\u65f6\u5e76\u53d1&#xff1a;\u51e0\u4e2a\u8fdb\u7a0b\u3001\u54ea\u4e9b\u7ebf\u7a0b\u3001\u5468\u671f\u591a\u5c11\u3001\u5982\u4f55\u540c\u6b65\u3002\u672c\u9879\u76ee\u6709\u4e24\u6761\u4e3b\u90e8\u7f72\u8def\u5f84&#xff1a;\u5f00\u53d1\u4eff\u771f\u3001\u771f\u673a\u3002<\/p>\n<h3>2.1 \u4eff\u771f\u6a21\u5f0f&#xff1a;\u53cc\u8fdb\u7a0b &#043; \u5171\u4eab\u5185\u5b58\u63e1\u624b<\/h3>\n<p>\u542f\u52a8\u65b9\u5f0f&#xff1a;\u5148 .\/sim\/sim&#xff0c;\u518d .\/user\/MIT_Controller\/mit_ctrl m s&#xff08;m &#061; Mini Cheetah&#xff0c;s &#061; simulation&#xff09;\u3002<\/p>\n<h4>2.1.1 \u8fdb\u7a0b A&#xff1a;sim&#xff08;\u4eff\u771f\u5668&#xff09;<\/h4>\n<ul>\n<li>Qt \u4e3b\u7ebf\u7a0b&#xff1a;SimControlPanel\u3001\u624b\u67c4&#xff08;Qt Gamepad&#xff09;\u3001OpenGL \u53ef\u89c6\u5316\u3002<\/li>\n<li>\u4eff\u771f\u5faa\u73af Simulation::runAtSpeed()&#xff1a;\u6309 dynamics_dt \u79ef\u5206&#xff0c;\u6309 low_level_dt \u8dd1\u677f\u5361\u4eff\u771f&#xff0c;\u6309 high_level_dt \u5524\u9192\u63a7\u5236\u5668\u3002<\/li>\n<li>\u901a\u8fc7 POSIX \u5171\u4eab\u5185\u5b58\u5bf9\u8c61 development-simulator \u4e0e\u63a7\u5236\u5668\u4ea4\u6362 SimulatorSyncronizedMessage\u3002<\/li>\n<li>\u53ef\u9009\u5411 LCM \u9891\u9053 simulator_state \u53d1\u72b6\u6001&#xff0c;\u4f9b lcm-spy \u8c03\u8bd5\u3002<\/li>\n<\/ul>\n<h4>2.1.2 \u8fdb\u7a0b B&#xff1a;\u63a7\u5236\u5668&#xff08;\u5982 mit_ctrl&#xff09;<\/h4>\n<ul>\n<li>SimulationBridge::run() \u6b7b\u5faa\u73af&#xff1a;waitForSimulator() \u2192 \u6309 SimulatorMode \u529e\u4e8b \u2192 robotIsDone()\u3002<\/li>\n<li>\u6a21\u5f0f\u5305\u62ec&#xff1a;RUN_CONTROL_PARAMETERS&#xff08;\u6539\u53c2\u6570&#xff09;\u3001RUN_CONTROLLER&#xff08;\u8dd1 RobotRunner&#xff09;\u3001DO_NOTHING\u3001EXIT\u3002<\/li>\n<li>\u7b2c\u4e00\u6b21 RUN_CONTROLLER \u65f6\u5b8c\u6210 RobotRunner::init()&#xff0c;\u4e4b\u540e\u6bcf\u4e2a\u9ad8\u5c42\u6b65\u8c03\u7528\u4e00\u6b21\u63a7\u5236\u3002<\/li>\n<\/ul>\n<h4>2.1.3 \u540c\u6b65\u8bed\u4e49&#xff08;\u907f\u514d\u53cc\u8fb9\u540c\u65f6\u5199\u5171\u4eab\u5185\u5b58&#xff09;<\/h4>\n<ul>\n<li>\u4e24\u4e2a POSIX \u4fe1\u53f7\u91cf&#xff1a;simToRobotSemaphore\u3001robotToSimSemaphore\u3002<\/li>\n<li>\u7ea6\u5b9a\u987a\u5e8f&#xff1a;\u673a\u5668\u4eba\u7b49\u5f85\u4eff\u771f \u2192 \u4eff\u771f\u79ef\u5206\u5e76\u5199 IMU\/\u817f\u6570\u636e \u2192 simulatorIsDone() \u2192 \u4eff\u771f\u7b49\u5f85\u673a\u5668\u4eba \u2192 \u673a\u5668\u4eba\u8bfb\u6570\u636e\u8dd1\u63a7\u5236\u5e76\u5199\u6307\u4ee4\/\u53ef\u89c6\u5316 \u2192 robotIsDone()\u3002<\/li>\n<li>\u8c03\u8bd5\u65e5\u5fd7\u4e0d\u8d70\u5171\u4eab\u5185\u5b58&#xff0c;\u8d70 LCM&#xff0c;\u907f\u514d\u62d6\u6162\u63a7\u5236\u8282\u62cd\u3002<\/li>\n<\/ul>\n<h4>2.1.4 \u8fdb\u7a0b\u89c6\u56fe&#xff1a;\u4eff\u771f\u53cc\u8fdb\u7a0b\u63e1\u624b<\/h4>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260826144848-6a8efcd0dd821.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h4>2.1.5 \u4eff\u771f\u9ed8\u8ba4\u65f6\u95f4\u6b65&#xff08;config\/simulator-defaults.yaml&#xff09;&#xff1a;<\/h4>\n<table>\n<tr>\u53c2\u6570\u9ed8\u8ba4\u503c\u542b\u4e49<\/tr>\n<tbody>\n<tr>\n<td>dynamics_dt<\/td>\n<td>0.001 s<\/td>\n<td>\u521a\u4f53\u79ef\u5206\u6b65\u957f&#xff08;1 kHz&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>low_level_dt<\/td>\n<td>0.0002 s<\/td>\n<td>\u4eff\u771f Spine\/TI \u677f\u5361&#xff08;5 kHz&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>high_level_dt<\/td>\n<td>0.002 s<\/td>\n<td>\u5524\u9192\u9ad8\u5c42\u63a7\u5236\u5668&#xff08;500 Hz&#xff0c;\u4e0e Mini Cheetah controller_dt \u5bf9\u9f50&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>simulation_speed<\/td>\n<td>1.0<\/td>\n<td>\u5899\u949f\u500d\u7387&#xff1b;\u6309\u4f4f t \u53ef\u5c3d\u91cf\u5feb\u653e<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3>2.2 \u771f\u673a\u6a21\u5f0f&#xff1a;\u5355\u8fdb\u7a0b\u591a\u5468\u671f\u4efb\u52a1<\/h3>\n<p>\u771f\u673a\u4e0a main_helper \u8d70 MiniCheetahHardwareBridge::run() \u6216 Cheetah3HardwareBridge::run()\u3002\u6846\u67b6\u662f PeriodicTask&#xff1a;\u6bcf\u4e2a\u4efb\u52a1\u72ec\u7acb std::thread&#xff0c;\u7531 PeriodicTaskManager \u7edf\u8ba1\u8d85\u65f6\u3002<br \/>\n\u542f\u52a8\u524d\u4f1a\u505a\u5b9e\u65f6\u51c6\u5907&#xff1a;<\/p>\n<li>prefaultStack()&#xff1a;\u9884\u89e6\u78b0 16 KB \u6808&#xff0c;\u5e76 mlockall(MCL_CURRENT|MCL_FUTURE) \u9632\u6b62\u6362\u9875\u3002<\/li>\n<li>setupScheduler()&#xff1a;SCHED_FIFO&#xff0c;\u4f18\u5148\u7ea7 49\u3002\u9700\u8981 root\u3002<\/li>\n<p>Mini Cheetah \u7ebf\u7a0b\u8868<\/p>\n<table>\n<tr>\u4efb\u52a1\u540d\u5468\u671f\u7ebf\u7a0b\u7c7b\u578b\u804c\u8d23<\/tr>\n<tbody>\n<tr>\n<td>robot-control<\/td>\n<td>controller_dt&#xff08;\u9ed8\u8ba4 2 ms&#xff09;<\/td>\n<td>PeriodicTask<\/td>\n<td>RobotRunner&#xff1a;\u4f30\u8ba1 &#043; \u7528\u6237\u63a7\u5236<\/td>\n<\/tr>\n<tr>\n<td>spi<\/td>\n<td>2 ms<\/td>\n<td>PeriodicMemberFunction<\/td>\n<td>runSpi()&#xff1a;\u62f7\u547d\u4ee4\u3001\u9a71\u52a8 SPI\u3001\u53d1 spi_data \/ spi_command<\/td>\n<\/tr>\n<tr>\n<td>lcm-vis<\/td>\n<td>16.7 ms&#xff08;\u7ea6 60 Hz&#xff09;<\/td>\n<td>PeriodicMemberFunction<\/td>\n<td>\u53d1\u5e03 main_cheetah_visualization<\/td>\n<\/tr>\n<tr>\n<td>rc_controller<\/td>\n<td>5 ms<\/td>\n<td>PeriodicMemberFunction<\/td>\n<td>SBUS \u9065\u63a7<\/td>\n<\/tr>\n<tr>\n<td>microstrain-logger<\/td>\n<td>1 ms<\/td>\n<td>PeriodicMemberFunction<\/td>\n<td>\u53d1\u5e03 microstrain LCM<\/td>\n<\/tr>\n<tr>\n<td>&#xff08;\u65e0\u540d&#xff09;IMU<\/td>\n<td>\u8fde\u7eed\u5faa\u73af<\/td>\n<td>std::thread<\/td>\n<td>LordImu::run() \u586b _vectorNavData<\/td>\n<\/tr>\n<tr>\n<td>interface LCM<\/td>\n<td>\u963b\u585e handle()<\/td>\n<td>std::thread<\/td>\n<td>\u8ba2\u9605 interface&#xff08;\u624b\u67c4&#xff09;\u3001interface_request&#xff08;\u53c2\u6570&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>print-tasks<\/td>\n<td>0.5 s<\/td>\n<td>PrintTaskStatus<\/td>\n<td>\u4efb\u52a1\u8d85\u65f6\u76d1\u63a7<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>Cheetah 3 \u7ebf\u7a0b\u8868<\/p>\n<table>\n<tr>\u4efb\u52a1\u540d\u5468\u671f\u804c\u8d23<\/tr>\n<tbody>\n<tr>\n<td>robot-control<\/td>\n<td>1 ms<\/td>\n<td>\u9ad8\u5c42\u63a7\u5236<\/td>\n<\/tr>\n<tr>\n<td>ecat<\/td>\n<td>1 ms<\/td>\n<td>SOEM EtherCAT&#xff1a;rt_ethercat_run()&#xff0c;\u53d1\u5e03 ecat_cmd \/ ecat_data<\/td>\n<\/tr>\n<tr>\n<td>lcm-vis<\/td>\n<td>16.7 ms<\/td>\n<td>\u53ef\u89c6\u5316<\/td>\n<\/tr>\n<tr>\n<td>VectorNav \u9a71\u52a8<\/td>\n<td>\u4f20\u611f\u5668\u4fa7\u7ea6 1 kHz<\/td>\n<td>rt_vectornav \u5199 IMU<\/td>\n<\/tr>\n<tr>\n<td>interface LCM<\/td>\n<td>\u540c Mini Cheetah<\/td>\n<td>\u624b\u67c4\u4e0e\u53c2\u6570<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u8fdb\u7a0b\u89c6\u56fe&#xff1a;Mini Cheetah \u673a\u8f7d\u8fdb\u7a0b\u5185\u7ebf\u7a0b<br \/>\n<img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260826144849-6a8efcd108140.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h3>2.3 \u8fdb\u7a0b\u95f4\u6d88\u606f\u4e00\u89c8<\/h3>\n<table>\n<tr>\u901a\u9053\/\u4ecb\u8d28\u65b9\u5411\u5185\u5bb9<\/tr>\n<tbody>\n<tr>\n<td>\u5171\u4eab\u5185\u5b58 SimulatorSyncronizedMessage<\/td>\n<td>sim \u2194 \u63a7\u5236\u5668<\/td>\n<td>IMU\u3001\u817f\u3001\u624b\u67c4\u3001\u53c2\u6570\u3001\u53ef\u89c6\u5316&#xff08;\u4ec5\u4eff\u771f&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>LCM interface<\/td>\n<td>\u5f00\u53d1\u673a \u2192 \u673a\u5668\u4eba<\/td>\n<td>gamepad_lcmt<\/td>\n<\/tr>\n<tr>\n<td>LCM interface_request \/ interface_response<\/td>\n<td>\u53cc\u5411<\/td>\n<td>\u6309\u540d\u8bfb\u5199\u63a7\u5236\u53c2\u6570<\/td>\n<\/tr>\n<tr>\n<td>LCM spi_data \/ spi_command<\/td>\n<td>\u673a\u5668\u4eba \u2192 \u8c03\u8bd5\u7aef<\/td>\n<td>Mini Cheetah \u539f\u59cb SPI<\/td>\n<\/tr>\n<tr>\n<td>LCM ecat_cmd \/ ecat_data<\/td>\n<td>\u673a\u5668\u4eba \u2192 \u8c03\u8bd5\u7aef<\/td>\n<td>Cheetah 3 EtherCAT<\/td>\n<\/tr>\n<tr>\n<td>LCM microstrain \/ vectornav<\/td>\n<td>\u673a\u5668\u4eba \u2192 \u8c03\u8bd5\u7aef<\/td>\n<td>IMU<\/td>\n<\/tr>\n<tr>\n<td>LCM state_estimator_lcmt<\/td>\n<td>\u63a7\u5236\u5668 \u2192 \u8c03\u8bd5\u7aef<\/td>\n<td>\u4f4d\u59ff\u901f\u5ea6\u4f30\u8ba1<\/td>\n<\/tr>\n<tr>\n<td>LCM leg_control_*<\/td>\n<td>\u63a7\u5236\u5668 \u2192 \u8c03\u8bd5\u7aef<\/td>\n<td>\u817f\u6307\u4ee4\u4e0e\u53cd\u9988<\/td>\n<\/tr>\n<tr>\n<td>LCM main_cheetah_visualization<\/td>\n<td>\u673a\u5668\u4eba \u2192 sim GUI<\/td>\n<td>12 \u5173\u8282 &#043; \u673a\u8eab\u4f4d\u59ff<\/td>\n<\/tr>\n<tr>\n<td>LCM simulator_state<\/td>\n<td>sim \u2192 \u8c03\u8bd5\u7aef<\/td>\n<td>\u4eff\u771f\u771f\u503c\u72b6\u6001<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3>2.4 \u8fdb\u7a0b\u89c6\u56fe\u5c0f\u7ed3<\/h3>\n<p>\u4eff\u771f\u7528\u300c\u53cc\u8fdb\u7a0b &#043; \u4fe1\u53f7\u91cf\u4e92\u65a5\u5171\u4eab\u5185\u5b58\u300d\u590d\u73b0\u771f\u673a\u7684\u300c\u63a7\u5236\u8282\u62cd\u4e0e\u7269\u7406\u8282\u62cd\u5206\u79bb\u300d\u3002\u771f\u673a\u628a\u540c\u4e00 RobotRunner \u653e\u8fdb\u5b9e\u65f6 FIFO \u7ebf\u7a0b&#xff0c;\u7528\u66f4\u77ed\u5468\u671f\u7684 SPI\/EtherCAT \u4efb\u52a1\u5582\u6570\u636e\u3002LCM \u4e00\u5f8b\u65c1\u8def&#xff0c;\u4e13\u7ba1\u4eba\u673a\u754c\u9762\u548c\u65e5\u5fd7&#xff0c;\u4e0d\u8fdb\u5165\u529b\u77e9\u95ed\u73af\u4e34\u754c\u8def\u5f84\u3002<\/p>\n<h2>3. \u5f00\u53d1\u89c6\u56fe<\/h2>\n<p>\u5f00\u53d1\u89c6\u56fe\u63cf\u8ff0\u6e90\u7801\u6a21\u5757\u3001\u5e93\u4f9d\u8d56\u3001\u6784\u5efa\u4ea7\u7269\u3002\u9876\u5c42 CMakeLists.txt \u6309\u5b50\u76ee\u5f55\u7ec4\u7ec7&#xff0c;C&#043;&#043;14&#xff0c;\u9ed8\u8ba4 -O3 -Werror&#xff08;Linux&#xff09;\u3002<\/p>\n<h3>3.1 \u9876\u5c42\u76ee\u5f55\u804c\u8d23<\/h3>\n<table>\n<tr>\u76ee\u5f55\u4ea7\u7269\u804c\u8d23<\/tr>\n<tbody>\n<tr>\n<td>common\/<\/td>\n<td>\u5171\u4eab\u5e93 biomimetics<\/td>\n<td>\u52a8\u529b\u5b66\u3001\u4f30\u8ba1\u3001\u817f\u63a5\u53e3\u3001\u78b0\u649e\u3001\u5171\u4eab\u5185\u5b58\u3001\u53c2\u6570<\/td>\n<\/tr>\n<tr>\n<td>robot\/<\/td>\n<td>\u5171\u4eab\u5e93 robot<\/td>\n<td>RobotRunner\u3001Bridge\u3001rt_* \u9a71\u52a8<\/td>\n<\/tr>\n<tr>\n<td>sim\/<\/td>\n<td>\u53ef\u6267\u884c\u6587\u4ef6 sim<\/td>\n<td>\u552f\u4e00\u4f9d\u8d56 Qt5 \u7684\u7a0b\u5e8f<\/td>\n<\/tr>\n<tr>\n<td>user\/<\/td>\n<td>mit_ctrl\u3001jpos_ctrl \u7b49<\/td>\n<td>\u5177\u4f53\u63a7\u5236\u5668&#xff0c;\u94fe\u63a5 robot &#043; biomimetics<\/td>\n<\/tr>\n<tr>\n<td>third-party\/<\/td>\n<td>\u9759\u6001\/\u5185\u90e8\u5e93<\/td>\n<td>OSQP\u3001qpOASES\u3001SOEM\u3001lord_imu\u3001vectornav \u7b49<\/td>\n<\/tr>\n<tr>\n<td>lcm-types\/<\/td>\n<td>lcm-gen \u51fa\u7684 hpp\/java\/py<\/td>\n<td>\u8fdb\u7a0b\u95f4\u5951\u7ea6<\/td>\n<\/tr>\n<tr>\n<td>config\/<\/td>\n<td>yaml<\/td>\n<td>\u4eff\u771f\u3001\u5730\u5f62\u3001\u673a\u5668\u4eba\u3001\u7528\u6237\u53c2\u6570\u9ed8\u8ba4\u503c<\/td>\n<\/tr>\n<tr>\n<td>scripts\/<\/td>\n<td>shell<\/td>\n<td>\u751f\u6210\u7c7b\u578b\u3001\u90e8\u7f72\u5230 Mini Cheetah\u3001\u914d LCM \u7f51\u5361<\/td>\n<\/tr>\n<tr>\n<td>resources\/<\/td>\n<td>obj \u7f51\u683c<\/td>\n<td>\u53ef\u89c6\u5316 CAD<\/td>\n<\/tr>\n<tr>\n<td>documentation\/<\/td>\n<td>md \/ doxygen<\/td>\n<td>\u5165\u95e8\u4e0e\u771f\u673a\u6d41\u7a0b<\/td>\n<\/tr>\n<tr>\n<td>common\/test\/<\/td>\n<td>test-common<\/td>\n<td>gtest&#xff08;CMake \u81ea\u52a8\u62c9 googletest&#xff09;<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260826144849-6a8efcd145fe1.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h3>3.2 common \u5185\u90e8\u5305\u7ed3\u6784<\/h3>\n<p>\u6309\u5934\u6587\u4ef6\u76ee\u5f55&#xff0c;\u903b\u8f91\u5305\u5982\u4e0b\u3002<\/p>\n<li>Dynamics\/<br \/>\n1&#xff09;spatial.h\u3001SpatialInertia&#xff1a;\u7a7a\u95f4\u5411\u91cf\u3002<br \/>\n2&#xff09;FloatingBaseModel&#xff1a;\u8fd0\u52a8\u5b66\/\u52a8\u529b\u5b66\u6811<br \/>\n3&#xff09;MiniCheetah \/ Cheetah3&#xff1a;\u673a\u578b\u53c2\u6570\u5de5\u5382\u3002<br \/>\n4&#xff09;ActuatorModel&#xff1a;\u7535\u673a\/\u51cf\u901f\u5668\u3002<br \/>\n5&#xff09;DynamicsSimulator&#xff1a;\u79ef\u5206 &#043; \u63a5\u89e6\u3002<\/li>\n<li>Controllers\/<br \/>\n1&#xff09;LegController\u3001StateEstimatorContainer\u3002<br \/>\n2&#xff09;OrientationEstimator\u3001PositionVelocityEstimator\u3001ContactEstimator\u3002<br \/>\n3&#xff09;DesiredStateCommand\u3001GaitScheduler\u3001FootSwingTrajectory\u3002<\/li>\n<li>Collision\/<br \/>\nCollisionPlane\/Box\/Mesh\u3001ContactImpulse\u3001ContactSpringDamper\u3002<\/li>\n<li>ControlParameters\/<br \/>\n\u53cd\u5c04\u5f0f\u53c2\u6570\u8868&#xff1a;\u4ee3\u7801\u91cc DECLARE_PARAMETER&#xff0c;yaml \u5fc5\u987b\u5b57\u6bb5\u5b8c\u5168\u4e00\u81f4&#xff0c;\u589e\u5220\u53c2\u6570\u8981\u91cd\u7f16\u8bd1\u3002<\/li>\n<li>SimUtilities\/<br \/>\n\u4eff\u771f\u4e13\u7528\u4f46\u63a7\u5236\u5668\u4e5f\u8981\u94fe\u63a5\u7684\u7ed3\u6784&#xff1a;SimulatorMessage\u3001SpineBoard\u3001ti_boardcontrol\u3001GamepadCommand\u3001ImuSimulator\u3002<\/li>\n<li>Utilities\/<br \/>\nPeriodicTask\u3001SharedMemory\u3001Timer\u3001\u6ee4\u6ce2\u5668\u3001Bezier \u7b49\u3002<\/li>\n<li>SparseCMPC\/\u3001FootstepPlanner\/\u3001Math\/<br \/>\n\u7a00\u758f MPC\u3001\u843d\u8db3\u89c4\u5212\u3001\u59ff\u6001\u5de5\u5177\u3002<\/li>\n<h3>3.3 user\/MIT_Controller \u6e90\u7801\u6811<\/h3>\n<p>user\/MIT_Controller\/          \u2190 \u6811\u6839<br \/>\n\u251c\u2500\u2500 main.cpp                  \u2190 \u5165\u53e3<br \/>\n\u251c\u2500\u2500 MIT_Controller.cpp\/.hpp<br \/>\n\u251c\u2500\u2500 FSM_States\/               \u2190 \u884c\u4e3a\u72b6\u6001\u673a<br \/>\n\u2502   \u251c\u2500\u2500 ControlFSM<br \/>\n\u2502   \u251c\u2500\u2500 FSM_State_*<br \/>\n\u2502   \u251c\u2500\u2500 SafetyChecker<br \/>\n\u2502   \u2514\u2500\u2500 ControlFSMData<br \/>\n\u2514\u2500\u2500 Controllers\/<br \/>\n\u251c\u2500\u2500 convexMPC\/            \u2190 \u884c\u8d70 MPC<br \/>\n\u251c\u2500\u2500 WBC\/ \u4e0e WBC_Ctrl\/     \u2190 \u5168\u8eab\u63a7\u5236<br \/>\n\u251c\u2500\u2500 VisionMPC\/            \u2190 \u89c6\u89c9 MPC<br \/>\n\u251c\u2500\u2500 BalanceController\/    \u2190 \u7ad9\u7acb\u5e73\u8861<br \/>\n\u2514\u2500\u2500 BackFlip\/             \u2190 \u540e\u7a7a\u7ffb\u7b49\u7279\u6280<\/p>\n<h3>3.4 \u6784\u5efa\u4e0e\u914d\u7f6e\u8981\u70b9<\/h3>\n<li>\u666e\u901a\u5f00\u53d1\u6784\u5efa<br \/>\n1&#xff09;scripts\/make_types.sh&#xff1a;lcm-gen -jxp *.lcm&#xff0c;\u751f\u6210 C&#043;&#043;\/Java\/Python \u7c7b\u578b\u3002<br \/>\n2&#xff09;cmake \u2026 &amp;&amp; make -j4\u3002<br \/>\n3&#xff09;\u4ea7\u7269&#xff1a;common\/libbiomimetics.so\u3001robot\/librobot.so\u3001sim\/sim\u3001user\/\u2026\/mit_ctrl\u3002<\/li>\n<li>Mini Cheetah \u4ea4\u53c9\u98ce\u683c\u6784\u5efa<br \/>\n1&#xff09;cmake -DMINI_CHEETAH_BUILD&#061;TRUE&#xff1a;\u5173\u6389 -march&#061;native&#xff0c;THIS_COM \u6539\u6210\u76f8\u5bf9\u8def\u5f84 \u2026\/&#xff0c;\u4ee5\u4fbf\u62f7\u5230\u673a\u8f7d\u76ee\u5f55\u540e\u4ecd\u80fd\u8bfb config\/\u3002<br \/>\n2&#xff09;NO_SIM&#061;ON \u53ef\u5728\u673a\u8f7d\u4e0a\u4e0d\u7f16 Qt \u4eff\u771f\u5668\u3002<\/li>\n<li>\u5916\u90e8\u4f9d\u8d56<br \/>\nQt 5.10&#043;&#xff08;\u542b Gamepad&#xff09;\u3001LCM 1.3.1\u3001Eigen\u3001BLAS\/LAPACK\u3001freeglut\u3001mesa&#xff1b;\u53ef\u9009 Ipopt&#xff08;-DIPOPT_OPTION&#061;ON&#xff09;\u3002<\/li>\n<li>\u6269\u5c55\u4e00\u4e2a\u65b0\u63a7\u5236\u5668&#xff08;\u5f00\u53d1\u89c6\u56fe\u7684\u6269\u5c55\u89c4\u5219&#xff09;<br \/>\n1&#xff09;\u5728 user\/ \u65b0\u5efa\u76ee\u5f55\u5e76\u52a0\u5165 user\/CMakeLists.txt\u3002<br \/>\n2&#xff09;\u7ee7\u627f RobotController&#xff0c;getUserControlParameters() \u8fd4\u56de\u53c2\u6570\u5bf9\u8c61\u6216 nullptr\u3002<br \/>\n3&#xff09;main \u5fc5\u987b\u8c03\u7528 main_helper(argc, argv, &amp;controller)\u3002<br \/>\n4&#xff09;\u4e0d\u6539 robot\/ \u4e0e common\/ \u5373\u53ef\u5728\u4eff\u771f\u548c\u771f\u673a\u4e0a\u8dd1\u3002<\/li>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260826144849-6a8efcd183cfc.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<h3>3.5 \u5f00\u53d1\u89c6\u56fe\u5c0f\u7ed3<\/h3>\n<p>\u4ed3\u5e93\u6309\u300c\u5171\u4eab\u7b97\u6cd5\u5e93 \/ \u8fd0\u884c\u65f6\u4e0e\u9a71\u52a8 \/ \u4eff\u771f GUI \/ \u53ef\u63d2\u62d4\u7528\u6237\u63a7\u5236\u5668 \/ \u7b2c\u4e09\u65b9\u6c42\u89e3\u5668\u300d\u5207\u5f00\u3002\u63a7\u5236\u5668\u7684\u7a33\u5b9a\u63a5\u53e3\u662f RobotController &#043; LegController &#043; StateEstimate&#xff1b;LCM \u7c7b\u578b\u662f\u8de8\u8bed\u8a00\u8c03\u8bd5\u5951\u7ea6&#xff1b;yaml \u4e0e C&#043;&#043; \u53c2\u6570\u8868\u5fc5\u987b\u540c\u6b65&#xff0c;\u8fd9\u662f\u672c\u9879\u76ee\u523b\u610f\u7684\u7f16\u8bd1\u671f\u4e00\u81f4\u6027\u68c0\u67e5\u3002<\/p>\n<h2>4. \u7269\u7406\u89c6\u56fe<\/h2>\n<p>\u7269\u7406\u89c6\u56fe\u63cf\u8ff0\u8f6f\u4ef6\u90e8\u7f72\u5230\u54ea\u4e9b\u8ba1\u7b97\u673a\u3001\u4f20\u611f\u5668\u3001\u6267\u884c\u5668\u548c\u7f51\u7edc\u3002\u6709\u4e09\u79cd\u7269\u7406\u62d3\u6251\u3002<\/p>\n<h3>4.1 \u62d3\u6251 A&#xff1a;\u7eaf\u4eff\u771f&#xff08;\u5355\u53f0\u5f00\u53d1\u673a&#xff09;<\/h3>\n<li>\u786c\u4ef6<br \/>\n\u4e00\u53f0 Linux PC&#xff08;\u4e5f\u652f\u6301 macOS \u7f16\u4eff\u771f&#xff09;\u3001Logitech F310&#xff08;\u62e8\u5230 X \u6a21\u5f0f&#xff09;\u3002<\/li>\n<li>\u8fdb\u7a0b\u653e\u7f6e<br \/>\n\u540c\u4e00\u53f0\u673a\u5668\u4e0a&#xff1a;sim &#043; mit_ctrl m s&#xff08;\u6216 3 s&#xff09;\u3002\u5171\u4eab\u5185\u5b58\u8981\u6c42\u540c\u673a\u3002<\/li>\n<li>\u4eba\u673a<br \/>\n\u5de6\u680f&#xff1a;\u4eff\u771f\u5668\u53c2\u6570&#xff08;\u901f\u5ea6\u3001\u5730\u5f62\u6469\u64e6\u7b49&#xff09;\u3002<br \/>\n\u4e2d\u680f&#xff1a;\u673a\u5668\u4eba\u53c2\u6570&#xff08;controller_dt\u3001cheater_mode&#xff09;\u3002<br \/>\n\u53f3\u680f&#xff1a;MIT \u7528\u6237\u53c2\u6570\u3002<br \/>\n\u753b\u9762\u91cc\u7070\u8272\u673a\u4f53 &#061; \u4eff\u771f\u771f\u503c&#xff0c;\u7ea2\u8272 &#061; \u72b6\u6001\u4f30\u8ba1\u3002<br \/>\n<img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260826144849-6a8efcd19e5e7.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><br \/>\n<img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260826144850-6a8efcd240edc.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><br \/>\n\u7269\u7406\u89c6\u56fe&#xff1a;\u5f00\u53d1\u673a\u7eaf\u4eff\u771f\u90e8\u7f72\u56fe<br \/>\n<img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260826144850-6a8efcd2a57b7.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/li>\n<h3>4.2 \u62d3\u6251 B&#xff1a;Mini Cheetah \u771f\u673a<\/h3>\n<h4>4.2.1 \u673a\u5668\u4eba\u672c\u4f53<\/h4>\n<ul>\n<li>\u4fef\u89c6\u524d\u65b9\u4e24\u5f00\u5173&#xff1a;\u4e2d\u95f4 &#061; \u7535\u673a\u7535\u6e90&#xff0c;\u53f3\u4fa7 &#061; \u7535\u8111\u7535\u6e90&#xff0c;\u62e8\u5411\u673a\u5c3e\u4e3a\u5f00\u3002<\/li>\n<li>\u7535\u8111\u7ea6 2 \u5206\u949f\u542f\u52a8\u3002<\/li>\n<li>12 \u4e2a\u5173\u8282\u7535\u673a&#xff0c;\u7ecf 4 \u5757 Spine \u677f\u505a\u817f\u7ea7\u63a7\u5236&#xff1b;\u5173\u8282 PD \u5728\u9a71\u52a8\u5668\u4e0a\u7ea6 40 kHz\u3002<\/li>\n<li>IMU&#xff1a;\u4ee3\u7801\u9ed8\u8ba4 USE_MICROSTRAIN&#xff0c;Lord Microstrain&#xff1b;\u4e5f\u53ef\u7f16 VectorNav\u3002<\/li>\n<li>\u53ef\u9009 SBUS \u9065\u63a7\u3002<\/li>\n<\/ul>\n<h4>4.2.2 \u673a\u8f7d\u8ba1\u7b97\u673a<\/h4>\n<ul>\n<li>\u9ed8\u8ba4 SSH&#xff1a;user&#064;10.0.0.34\u3002\u591a\u673a\u65f6\u811a\u672c\u652f\u6301 10.0.0.4x\u3002<\/li>\n<li>\u5f00\u53d1\u673a\u7f51\u5361\u9700\u914d 10.0.0.xxx\u3002<\/li>\n<li>\u8fd0\u884c cmake -DMINI_CHEETAH_BUILD&#061;TRUE \u7f16\u51fa\u7684\u63a7\u5236\u5668&#xff0c;\u7531 scripts\/send_to_mini_cheetah.sh \u628a\u53ef\u6267\u884c\u6587\u4ef6\u3001.so\u3001config\/\u3001run_mc.sh \u62f7\u5230 ~\/robot-software\u3002<\/li>\n<li>\u673a\u4e0a .\/configure_network_lcm.sh mc-top \u914d\u9876\u90e8\u4ee5\u592a\u7f51\u7684 LCM \u7ec4\u64ad\u3002<\/li>\n<li>sudo nohup \u8dd1 run_mc.sh&#xff1b;\u7a0b\u5e8f\u4f1a\u7b49\u5230\u5f00\u53d1\u673a sim \u4ee5 Robot \u6a21\u5f0f\u70b9 Start&#xff0c;\u53c2\u6570\u7ecf LCM \u4e0b\u5b8c\u518d\u8fdb\u63a7\u5236\u3002<\/li>\n<\/ul>\n<h4>4.2.3 \u5f00\u53d1\u673a\u89d2\u8272<\/h4>\n<ul>\n<li>\u4ecd\u8dd1 sim&#xff0c;\u6a21\u5f0f\u9009 Mini Cheetah &#043; Robot&#xff08;RobotInterface&#xff09;\u3002<\/li>\n<li>\u624b\u67c4\u3001\u53c2\u6570\u9762\u677f\u3001\u4f30\u8ba1\u53ef\u89c6\u5316\u90fd\u8d70 LCM&#xff0c;\u4e0d\u8d70\u5171\u4eab\u5185\u5b58\u3002<\/li>\n<li>\u4ee5\u592a\u7f51\u65e2\u662f SSH \u90e8\u7f72\u901a\u9053&#xff0c;\u4e5f\u662f LCM \u8c03\u8bd5\u603b\u7ebf\u3002<\/li>\n<\/ul>\n<h4>4.2.4 \u63a7\u5236\u94fe\u8def\u65f6\u5ef6\u5206\u5c42<\/h4>\n<ul>\n<li>\u7535\u673a\u9a71\u52a8\u5668&#xff1a;40 kHz \u7535\u6d41\/\u5173\u8282 PD\u3002<\/li>\n<li>SPI \u4efb\u52a1&#xff1a;2 ms&#xff0c;\u7ea6 500 Hz&#xff0c;\u4e0e\u9ad8\u5c42 controller_dt&#061;0.002 \u5bf9\u9f50&#xff08;\u6587\u6863\u4ea6\u5199\u817f\u6570\u636e\u7ea6 700 Hz \u91cf\u7ea7&#xff09;\u3002<\/li>\n<li>\u9ad8\u5c42 MPC\/WBC&#xff1a;\u540c\u4e00 2 ms \u7ebf\u7a0b\u5185\u3002<\/li>\n<li>GUI\/\u53ef\u89c6\u5316&#xff1a;60 Hz&#xff0c;\u5141\u8bb8\u4e22\u5e27\u3002<br \/>\n\u7269\u7406\u89c6\u56fe&#xff1a;Mini Cheetah \u771f\u673a\u90e8\u7f72\u56fe<br \/>\n<img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260826144850-6a8efcd2e26de.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/li>\n<\/ul>\n<h3>4.3 \u62d3\u6251 C&#xff1a;Cheetah 3 \u771f\u673a<\/h3>\n<li>\u603b\u7ebf\u5dee\u5f02<\/li>\n<ul>\n<li>\u4e0d\u7528 SPI Spine&#xff0c;\u800c\u7528 EtherCAT&#xff08;\u7b2c\u4e09\u65b9\u5e93 SOEM&#xff09;\u3002<\/li>\n<li>\u6bcf\u817f\u4e00\u5757 TI \u63a7\u5236\u677f TiBoardCommand\/Data&#xff0c;\u652f\u6301\u5173\u8282\u4e0e\u7b1b\u5361\u5c14\u6307\u4ee4\u3001max_torque\u3002<\/li>\n<li>ecat \u4efb\u52a1 1 ms&#xff0c;\u4e0e controller_dt&#061;0.001&#xff08;config\/cheetah-3-defaults.yaml&#xff09;\u5bf9\u9f50\u3002<\/li>\n<\/ul>\n<li>IMU<br \/>\nrt_vectornav.cpp \u521d\u59cb\u5316 VectorNav&#xff1b;\u5931\u8d25\u65f6\u6253\u5370 IMU DISABLED&#xff0c;\u4e0d\u76f4\u63a5 exit\u3002<\/li>\n<li>\u4e0e Mini Cheetah \u7684\u7269\u7406\u5171\u540c\u70b9<br \/>\n\u5f00\u53d1\u673a\u4ecd\u7528 LCM \u4e0b\u53d1\u624b\u67c4\u548c\u53c2\u6570&#xff1b;Cheetah3HardwareBridge \u540c\u6837 mlockall &#043; FIFO\u3002SBUS \u5728 Cheetah 3 \u8def\u5f84\u91cc\u76ee\u524d\u6ce8\u91ca\u6389\u3002<\/li>\n<p>\u7269\u7406\u89c6\u56fe&#xff1a;Cheetah 3 \u771f\u673a\u90e8\u7f72\u56fe<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260826144851-6a8efcd329efd.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><br \/>\n4. \u4e24\u6b3e\u673a\u5668\u4eba\u7269\u7406\u6808\u5bf9\u6bd4<\/p>\n<table>\n<tr>\u7ef4\u5ea6Mini CheetahCheetah 3<\/tr>\n<tbody>\n<tr>\n<td>\u9ad8\u5c42\u5468\u671f<\/td>\n<td>2 ms<\/td>\n<td>1 ms<\/td>\n<\/tr>\n<tr>\n<td>\u817f\u603b\u7ebf<\/td>\n<td>SPI \u2192 Spine Board<\/td>\n<td>EtherCAT \u2192 TI Board<\/td>\n<\/tr>\n<tr>\n<td>\u603b\u7ebf\u4efb\u52a1\u5468\u671f<\/td>\n<td>2 ms<\/td>\n<td>1 ms<\/td>\n<\/tr>\n<tr>\n<td>IMU<\/td>\n<td>Microstrain&#xff08;\u9ed8\u8ba4&#xff09;\u6216 VectorNav<\/td>\n<td>VectorNav<\/td>\n<\/tr>\n<tr>\n<td>\u673a\u8f7d\u6784\u5efa<\/td>\n<td>\u5fc5\u987b MINI_CHEETAH_BUILD<\/td>\n<td>\u666e\u901a Linux \u6784\u5efa\u5373\u53ef<\/td>\n<\/tr>\n<tr>\n<td>\u5178\u578b IP<\/td>\n<td>10.0.0.34<\/td>\n<td>\u6587\u6863\u672a\u5199\u6b7b&#xff0c;\u540c\u6837\u8d70 LCM \u5c40\u57df\u7f51<\/td>\n<\/tr>\n<tr>\n<td>\u5173\u8282 PD<\/td>\n<td>\u7535\u673a\u4fa7 ~40 kHz<\/td>\n<td>TI \u677f\u5e95\u5c42\u73af<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3>4.4 \u7269\u7406\u89c6\u56fe\u5c0f\u7ed3<\/h3>\n<p>\u8f6f\u4ef6\u6545\u610f\u505a\u6210\u300c\u5f00\u53d1\u673a\u7b97\u4eff\u771f\u3001\u673a\u8f7d\u53ea\u8dd1\u63a7\u5236\u300d\u3002\u4eff\u771f\u540c\u673a\u7528\u5171\u4eab\u5185\u5b58\u8ffd\u6c42\u786e\u5b9a\u6027\u63e1\u624b&#xff1b;\u771f\u673a\u7528\u5343\u5146\u4ee5\u592a\u7f51\u8dd1 LCM&#xff0c;\u7528\u673a\u5668\u4eba\u5185\u90e8 SPI\/EtherCAT \u8dd1\u529b\u77e9\u95ed\u73af\u3002Qt \u4eff\u771f\u5668\u8de8\u4e24\u79cd\u7269\u7406\u62d3\u6251\u590d\u7528&#xff1a;\u65e2\u662f\u52a8\u529b\u5b66\u6c99\u76d2&#xff0c;\u4e5f\u662f\u771f\u673a\u9065\u63a7\u53f0\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u524d\u8a00MIT Cheetah \u662f MIT \u4eff\u751f\u673a\u5668\u4eba\u5b9e\u9a8c\u5ba4\u5728\u91d1\u76f8\u57f9&#xff08;Sangbae Kim&#xff09;\u6559\u6388\u4e3b\u6301\u4e0b\u53d1\u5c55\u7684\u7535\u52a8\u56db\u8db3\u673a\u5668\u4eba\u7cfb\u5217&#xff08;Cheetah 1\/2\/3 \u4e0e Mini Cheetah&#xff09;\u3002\u5b83\u7528\u53ef\u53cd\u9a71\u3001\u9ad8\u8f6c\u77e9\u5bc6\u5ea6\u7684\u672c\u4f53\u611f\u53d7\u6267\u884c\u5668\u53d6\u4ee3\u6db2\u538b&#xff0c;\u4f7f\u673a\u5668\u4eba\u5728\u9ad8\u901f\u5954\u8dd1\u3001\u8d8a\u969c\u8df3\u8dc3\u4e43\u81f3\u540e\u7a7a\u7ffb\u7684\u540c\u65f6&#xff0c;\u628a\u8fd0\u8f93\u6210\u672c\u505a\u5230\u4e0e\u52a8\u7269\u76f8\u5f53&#xff0c;\u5e76\u8bc1\u660e\u52a8\u6001\u6b65\u6001\u53ef\u7528\u673a\u8f7d\u51f8\u6a21\u578b\u9884\u6d4b\u63a7\u5236\u5b9e\u65f6\u6c42\u89e3\u30022019 \u5e74\u5f00\u6e90\u7684 Cheet<\/p>\n","protected":false},"author":2,"featured_media":95803,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[384,188],"topic":[],"class_list":["post-95815","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-384","tag-188"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v20.3 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>MIT Cheetah-Software\u67b6\u6784\u89e3\u6790 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/95815.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"MIT Cheetah-Software\u67b6\u6784\u89e3\u6790 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"og:description\" content=\"\u524d\u8a00MIT Cheetah \u662f MIT \u4eff\u751f\u673a\u5668\u4eba\u5b9e\u9a8c\u5ba4\u5728\u91d1\u76f8\u57f9&#xff08;Sangbae Kim&#xff09;\u6559\u6388\u4e3b\u6301\u4e0b\u53d1\u5c55\u7684\u7535\u52a8\u56db\u8db3\u673a\u5668\u4eba\u7cfb\u5217&#xff08;Cheetah 1\/2\/3 \u4e0e Mini Cheetah&#xff09;\u3002\u5b83\u7528\u53ef\u53cd\u9a71\u3001\u9ad8\u8f6c\u77e9\u5bc6\u5ea6\u7684\u672c\u4f53\u611f\u53d7\u6267\u884c\u5668\u53d6\u4ee3\u6db2\u538b&#xff0c;\u4f7f\u673a\u5668\u4eba\u5728\u9ad8\u901f\u5954\u8dd1\u3001\u8d8a\u969c\u8df3\u8dc3\u4e43\u81f3\u540e\u7a7a\u7ffb\u7684\u540c\u65f6&#xff0c;\u628a\u8fd0\u8f93\u6210\u672c\u505a\u5230\u4e0e\u52a8\u7269\u76f8\u5f53&#xff0c;\u5e76\u8bc1\u660e\u52a8\u6001\u6b65\u6001\u53ef\u7528\u673a\u8f7d\u51f8\u6a21\u578b\u9884\u6d4b\u63a7\u5236\u5b9e\u65f6\u6c42\u89e3\u30022019 \u5e74\u5f00\u6e90\u7684 Cheet\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.wsisp.com\/helps\/95815.html\" \/>\n<meta property=\"og:site_name\" content=\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"article:published_time\" content=\"2026-08-26T14:48:52+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260826144847-6a8efccfc8f04.png\" \/>\n<meta name=\"author\" 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