[{"data":1,"prerenderedAt":95},["ShallowReactive",2],{"\u002Fglossary\u002Fmit-protocol-can":3},{"id":4,"title":5,"alternateName":6,"body":7,"description":85,"extension":86,"keywords":87,"meta":88,"navigation":89,"path":90,"seo":91,"stem":92,"updated":93,"__hash__":94},"glossary\u002Fglossary\u002Fzh\u002Fmit-protocol-can.md","MIT 协议（CAN 电机控制）","MIT Mode \u002F MIT Motor Protocol",{"type":8,"value":9,"toc":79},"minimark",[10,15,23,27,35,57,60],[11,12,14],"h1",{"id":13},"mit-协议是什么","MIT 协议是什么？",[16,17,18,22],"p",{},[19,20,21],"strong",{},"MIT 协议","（MIT Mode）是源自 MIT Mini Cheetah 开源腿式机器人项目的 CAN 总线电机控制协议。它的核心是把一条控制指令压缩进一帧 CAN 报文，同时下发五个量：目标位置 p、目标速度 v、位置增益 Kp、速度增益 Kd 与前馈扭矩 τ。",[24,25,26],"h2",{"id":26},"力位混合控制",[16,28,29,30,34],{},"电机端按 ",[31,32,33],"code",{},"τ_out = Kp·(p - p_actual) + Kd·(v - v_actual) + τ"," 计算输出扭矩。通过调节增益，同一条协议可以覆盖三种控制模式：",[36,37,38,45,51],"ul",{},[39,40,41,44],"li",{},[19,42,43],{},"纯力矩控制","：Kp = Kd = 0，只发前馈扭矩——高动态力控的基础；",[39,46,47,50],{},[19,48,49],{},"位置控制","：Kp、Kd 正常取值，像伺服一样跟踪位置；",[39,52,53,56],{},[19,54,55],{},"阻抗控制","：中间增益让关节表现出\"弹簧-阻尼\"特性，柔顺接触环境。",[24,58,59],{"id":59},"为什么它成了事实标准",[16,61,62,63,68,69,73,74,78],{},"协议开源、指令紧凑（单帧完成）、天然支持力控，被大量",[64,65,67],"a",{"href":66},"\u002Fglossary\u002Fjoint-motor","关节电机","厂商兼容，形成了跨品牌的通用控制接口。BXI ",[64,70,72],{"href":71},"\u002Fmotors\u002Fadvanced-motors","85\u002F70\u002F50 系列关节电机","全系兼容 MIT 协议的 CAN\u002FCANFD 通信，配合 ",[64,75,77],{"href":76},"\u002Fmotors\u002Fcontrol-modules","PCIE-CAN 控制模块","可实现 >1000 Hz 的整机高频控制。",{"title":80,"searchDepth":81,"depth":81,"links":82},"",2,[83,84],{"id":26,"depth":81,"text":26},{"id":59,"depth":81,"text":59},"MIT 协议是源自 MIT Mini Cheetah 开源项目的 CAN 总线电机控制协议，用一帧指令同时下发位置、速度、前馈扭矩与增益，实现力位混合控制，已成为机器人关节电机的事实标准之一。","md","MIT协议, CAN电机控制, 力位混合控制, 电机通信协议, CANFD",{},true,"\u002Fglossary\u002Fzh\u002Fmit-protocol-can",{"title":5,"description":85},"glossary\u002Fzh\u002Fmit-protocol-can",null,"dyY6xvhT19PZxRgo_yMqQGrlyQAk9NghjeSWibo2IYg",1783425866986]