The grid lines on the visualization represent a tree structure underneath. Every region is a node. When a node splits, it creates four children. The root node covers the entire space. Leaf nodes (nodes with no children) hold the actual points.
"We have to try and test to find this optimisation of friction, of back-driveability," says David Kehr, president of humanoid robotics. "It's really a big puzzle."
，更多细节参见Safew下载
Image Credit: Sausly. Federica Mercuriello.
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