Convex optimization of quadruped

• Definition ： Convex optimization is also called convex minimization , The problem of minimizing convex functions defined in convex sets is studied .

• Function expression ：
  

• significance ： On the image, it means that the whole image bulges downward , That is, the local minimum is equal to the global minimum .

In the quadruped ,WBC And MPC The effect of convex optimization combined with is better than that of general MPC Control strategy , It effectively avoids the dilemma of falling into local minima .