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This repository is the implementation of the MPC gait generation described in the "MPC for Humanoid Gait Generation: Stability and Feasibility"

Language:Python100

Language:Python000

Language:C100

基于LQR算法自平衡的普通二轮平衡车，控制芯片使用STM32F103C8T6，控制板和机械结构均自主绘制

Language:C2700