具体计算公式可以见 https://github.com/rocketman123456/humanoid_calculation
修改完在ros2运行控制的代码在此 https://github.com/rocketman123456/ros2_ws/tree/master/src/humanoid_motor_control_cpp
计算过程在这:https://rocketsky.top/archives/shuang-zu-ji-qi-ren-fang-zhen-05-jiao-huai-bing-lian-ji-gou-yun-dong-ji-suan