diff --git a/.vscode/settings.json b/.vscode/settings.json
index 352e893..595eb20 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -4,6 +4,10 @@
         "ahrs.h": "c",
         "string.h": "c",
         "user_math.h": "c",
-        "__locale": "c"
+        "__locale": "c",
+        "kinematics.h": "c",
+        "bezier_curve.h": "c",
+        "queue": "c",
+        "stack": "c"
     }
 }
\ No newline at end of file
diff --git a/MDK-ARM/CtrBoard-H7_ALL.uvoptx b/MDK-ARM/CtrBoard-H7_ALL.uvoptx
index 77b25e0..8434cf2 100644
--- a/MDK-ARM/CtrBoard-H7_ALL.uvoptx
+++ b/MDK-ARM/CtrBoard-H7_ALL.uvoptx
@@ -183,18 +183,8 @@
         <Ww>
           <count>5</count>
           <WinNumber>1</WinNumber>
-          <ItemText>angle_pose</ItemText>
-        </Ww>
-        <Ww>
-          <count>6</count>
-          <WinNumber>1</WinNumber>
           <ItemText>chassis_cmd</ItemText>
         </Ww>
-        <Ww>
-          <count>7</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>target_pose</ItemText>
-        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
@@ -1293,8 +1283,32 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\User\component\bezier_curve.c</PathWithFileName>
-      <FilenameWithoutPath>bezier_curve.c</FilenameWithoutPath>
+      <PathWithFileName>..\User\component\kinematics.c</PathWithFileName>
+      <FilenameWithoutPath>kinematics.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>10</GroupNumber>
+      <FileNumber>82</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\component\path.c</PathWithFileName>
+      <FilenameWithoutPath>path.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>10</GroupNumber>
+      <FileNumber>83</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\bsp\mm.c</PathWithFileName>
+      <FilenameWithoutPath>mm.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -1308,7 +1322,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>82</FileNumber>
+      <FileNumber>84</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1320,7 +1334,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>83</FileNumber>
+      <FileNumber>85</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1332,7 +1346,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>84</FileNumber>
+      <FileNumber>86</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1344,7 +1358,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>85</FileNumber>
+      <FileNumber>87</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1364,19 +1378,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>12</GroupNumber>
-      <FileNumber>86</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\component\kinematics.c</PathWithFileName>
-      <FilenameWithoutPath>kinematics.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>12</GroupNumber>
-      <FileNumber>87</FileNumber>
+      <FileNumber>88</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1388,7 +1390,7 @@
     </File>
     <File>
       <GroupNumber>12</GroupNumber>
-      <FileNumber>88</FileNumber>
+      <FileNumber>89</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1408,7 +1410,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>13</GroupNumber>
-      <FileNumber>89</FileNumber>
+      <FileNumber>90</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1420,7 +1422,7 @@
     </File>
     <File>
       <GroupNumber>13</GroupNumber>
-      <FileNumber>90</FileNumber>
+      <FileNumber>91</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1432,7 +1434,7 @@
     </File>
     <File>
       <GroupNumber>13</GroupNumber>
-      <FileNumber>91</FileNumber>
+      <FileNumber>92</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1444,7 +1446,7 @@
     </File>
     <File>
       <GroupNumber>13</GroupNumber>
-      <FileNumber>92</FileNumber>
+      <FileNumber>93</FileNumber>
       <FileType>5</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1456,7 +1458,7 @@
     </File>
     <File>
       <GroupNumber>13</GroupNumber>
-      <FileNumber>93</FileNumber>
+      <FileNumber>94</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1468,7 +1470,7 @@
     </File>
     <File>
       <GroupNumber>13</GroupNumber>
-      <FileNumber>94</FileNumber>
+      <FileNumber>95</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1480,7 +1482,7 @@
     </File>
     <File>
       <GroupNumber>13</GroupNumber>
-      <FileNumber>95</FileNumber>
+      <FileNumber>96</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1492,7 +1494,7 @@
     </File>
     <File>
       <GroupNumber>13</GroupNumber>
-      <FileNumber>96</FileNumber>
+      <FileNumber>97</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1504,7 +1506,7 @@
     </File>
     <File>
       <GroupNumber>13</GroupNumber>
-      <FileNumber>97</FileNumber>
+      <FileNumber>98</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1516,7 +1518,7 @@
     </File>
     <File>
       <GroupNumber>13</GroupNumber>
-      <FileNumber>98</FileNumber>
+      <FileNumber>99</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1528,7 +1530,7 @@
     </File>
     <File>
       <GroupNumber>13</GroupNumber>
-      <FileNumber>99</FileNumber>
+      <FileNumber>100</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1548,7 +1550,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>14</GroupNumber>
-      <FileNumber>100</FileNumber>
+      <FileNumber>101</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1560,7 +1562,7 @@
     </File>
     <File>
       <GroupNumber>14</GroupNumber>
-      <FileNumber>101</FileNumber>
+      <FileNumber>102</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
diff --git a/MDK-ARM/CtrBoard-H7_ALL.uvprojx b/MDK-ARM/CtrBoard-H7_ALL.uvprojx
index 95adbae..4935f63 100644
--- a/MDK-ARM/CtrBoard-H7_ALL.uvprojx
+++ b/MDK-ARM/CtrBoard-H7_ALL.uvprojx
@@ -1459,9 +1459,19 @@
               <FilePath>..\User\component\limiter.c</FilePath>
             </File>
             <File>
-              <FileName>bezier_curve.c</FileName>
+              <FileName>kinematics.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\User\component\bezier_curve.c</FilePath>
+              <FilePath>..\User\component\kinematics.c</FilePath>
+            </File>
+            <File>
+              <FileName>path.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\component\path.c</FilePath>
+            </File>
+            <File>
+              <FileName>mm.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\bsp\mm.c</FilePath>
             </File>
           </Files>
         </Group>
@@ -1493,11 +1503,6 @@
         <Group>
           <GroupName>User/module</GroupName>
           <Files>
-            <File>
-              <FileName>kinematics.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\component\kinematics.c</FilePath>
-            </File>
             <File>
               <FileName>chassis.c</FileName>
               <FileType>1</FileType>
diff --git a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf
index 10fcbfa..ea53ccc 100644
Binary files a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf and b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf differ
diff --git a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex
index da2bd36..c73b5dc 100644
--- a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex
+++ b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex
@@ -1,29 +1,29 @@
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+:1043200040C3F52C41ABB618425C8FCA40040B2247
+:104330004A410C3142BF4D9A99993F0C0F1920C048
+:10434000666626C01819101B20400C4A400C392400
+:10435000292C0913182D3255B03DD029041CC3F562
+:1043600048045AA8F01A80243904193C79046910C9
+:10437000091208590401101A20C4A944A1720100AD
+:0C43800001FF01FF01FF01FF01FF0149E7
 :04000005080002CD20
 :00000001FF
diff --git a/User/bsp/mm.c b/User/bsp/mm.c
new file mode 100644
index 0000000..62e9b87
--- /dev/null
+++ b/User/bsp/mm.c
@@ -0,0 +1,14 @@
+/* Includes ----------------------------------------------------------------- */
+#include "bsp/mm.h"
+
+#include "FreeRTOS.h"
+
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+/* Private variables -------------------------------------------------------- */
+/* Private function  -------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+inline void *BSP_Malloc(size_t size) { return pvPortMalloc(size); }
+
+inline void BSP_Free(void *pv) { vPortFree(pv); }
diff --git a/User/bsp/mm.h b/User/bsp/mm.h
new file mode 100644
index 0000000..57bdcac
--- /dev/null
+++ b/User/bsp/mm.h
@@ -0,0 +1,20 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <stddef.h>
+#include <stdint.h>
+
+/* Exported constants ------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+/* Exported functions prototypes -------------------------------------------- */
+void *BSP_Malloc(size_t size);
+void BSP_Free(void *pv);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/User/component/bezier_curve.c b/User/component/bezier_curve.c
deleted file mode 100644
index a57193a..0000000
--- a/User/component/bezier_curve.c
+++ /dev/null
@@ -1,24 +0,0 @@
-#include "bezier_curve.h"
-
-// 三次贝塞尔曲线，二维
-void bezier_curve_3rd(const float p0[2], const float p1[2], const float p2[2], const float p3[2], float t, float out[2]) {
-    float u = 1.0f - t;
-    float tt = t * t;
-    float uu = u * u;
-    float uuu = uu * u;
-    float ttt = tt * t;
-    out[0] = uuu * p0[0] + 3 * uu * t * p1[0] + 3 * u * tt * p2[0] + ttt * p3[0];
-    out[1] = uuu * p0[1] + 3 * uu * t * p1[1] + 3 * u * tt * p2[1] + ttt * p3[1];
-}
-
-// 三次贝塞尔曲线，三维
-void bezier_curve_3rd_3d(const float p0[3], const float p1[3], const float p2[3], const float p3[3], float t, float out[3]) {
-    float u = 1.0f - t;
-    float tt = t * t;
-    float uu = u * u;
-    float uuu = uu * u;
-    float ttt = tt * t;
-    for (int i = 0; i < 3; ++i) {
-        out[i] = uuu * p0[i] + 3 * uu * t * p1[i] + 3 * u * tt * p2[i] + ttt * p3[i];
-    }
-}
\ No newline at end of file
diff --git a/User/component/bezier_curve.h b/User/component/bezier_curve.h
deleted file mode 100644
index 3e89de9..0000000
--- a/User/component/bezier_curve.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*
-  各类滤波器。
-*/
-
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-// 三次贝塞尔曲线，二维
-void bezier_curve_3rd(const float p0[2], const float p1[2], const float p2[2], const float p3[2], float t, float out[2]);
-
-// 三次贝塞尔曲线，三维
-void bezier_curve_3rd_3d(const float p0[3], const float p1[3], const float p2[3], const float p3[3], float t, float out[3]);
-
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/User/component/cmd.c b/User/component/cmd.c
index 5728d8f..0101576 100644
--- a/User/component/cmd.c
+++ b/User/component/cmd.c
@@ -20,36 +20,78 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
       /* 左拨杆相应行为选择和解析 */
     case CMD_SW_UP:
       cmd->chassis.mode = CHASSIS_MODE_RELAX;
+      switch (rc->sw_r) {
+      /* 右拨杆相应行为选择和解析*/ 
+      case CMD_SW_UP:
+        cmd->chassis.action = CHASSIS_ACTION_NONE;
+        break;
+      case CMD_SW_MID:
+        cmd->chassis.action = CHASSIS_ACTION_NONE;
+        break;
+      case CMD_SW_DOWN:
+        cmd->chassis.action = CHASSIS_ACTION_NONE;
+        break;
+      case CMD_SW_ERR:
+        cmd->chassis.action = CHASSIS_ACTION_NONE;
+        break;
+      }
       break;
 
     case CMD_SW_MID:
       cmd->chassis.mode = CHASSIS_MODE_DAMP;
+      switch (rc->sw_r) {
+      /* 右拨杆相应行为选择和解析*/ 
+      case CMD_SW_UP:
+        cmd->chassis.action = CHASSIS_ACTION_NONE;
+        break;
+      case CMD_SW_MID:
+        cmd->chassis.action = CHASSIS_ACTION_NONE;
+        break;
+      case CMD_SW_DOWN:
+        cmd->chassis.action = CHASSIS_ACTION_NONE;
+        break;
+      case CMD_SW_ERR:
+        cmd->chassis.action = CHASSIS_ACTION_NONE;
+        break;
+      }
       break;
 
     case CMD_SW_DOWN:
-      cmd->chassis.mode = CHASSIS_MODE_RECOVER;
+      cmd->chassis.mode = CHASSIS_MODE_POSITION;
+      switch (rc->sw_r) {
+      /* 右拨杆相应行为选择和解析*/ 
+      case CMD_SW_UP:
+        cmd->chassis.action = CHASSIS_ACTION_NONE;
+        break;
+      case CMD_SW_MID:
+        cmd->chassis.action = CHASSIS_ACTION_STAND;
+        break;
+      case CMD_SW_DOWN:
+        cmd->chassis.action = CHASSIS_ACTION_TROT;
+        break;
+      case CMD_SW_ERR:
+        cmd->chassis.action = CHASSIS_ACTION_NONE;
+        break;
+      }
       break;
 
     case CMD_SW_ERR:
       cmd->chassis.mode = CHASSIS_MODE_RELAX;
-      break;
-  }
-  switch (rc->sw_r) {
+      switch (rc->sw_r) {
       /* 右拨杆相应行为选择和解析*/ 
-    case CMD_SW_UP:
-      cmd->chassis.action = CHASSIS_ACTION_NONE;
-      break;
-
-    case CMD_SW_MID:
-      cmd->chassis.action = CHASSIS_ACTION_NONE;
-      break;
-
-    case CMD_SW_DOWN:
-      cmd->chassis.action = CHASSIS_ACTION_NONE;
-      break;
-
-    case CMD_SW_ERR:
-      cmd->chassis.action = CHASSIS_ACTION_NONE;
+      case CMD_SW_UP:
+        cmd->chassis.action = CHASSIS_ACTION_NONE;
+        break;
+      case CMD_SW_MID:
+        cmd->chassis.action = CHASSIS_ACTION_NONE;
+        break;
+      case CMD_SW_DOWN:
+        cmd->chassis.action = CHASSIS_ACTION_NONE;
+        break;
+      case CMD_SW_ERR:
+        cmd->chassis.action = CHASSIS_ACTION_NONE;
+        break;
+      }
       break;
   }
   /* 将操纵杆的对应值转换为底盘的控制向量和云台变化的欧拉角 */
diff --git a/User/component/cmd.h b/User/component/cmd.h
index d41d956..64be79e 100644
--- a/User/component/cmd.h
+++ b/User/component/cmd.h
@@ -18,6 +18,7 @@ typedef enum {
   CHASSIS_MODE_DAMP, /* 阻尼模式，电机闭环控制保持阻尼，用于安全模式放松 */
   CHASSIS_MODE_RECOVER, /* 恢复模式，电机闭环控制恢复到初始位置。用于机器人上电后恢复到初始位置 */
   CHASSIS_MODE_BREAK, /* 刹车模式，电机闭环控制保持静止。用于机器人停止状态 */
+  CHASSIS_MODE_POSITION, /* 位置模式，电机闭环控制保持在指定位置 */
   CHASSIS_MODE_FOLLOW, /* 通过闭环控制使车头方向跟随遥控器 */
 } CMD_ChassisMode_t;
 
@@ -25,6 +26,9 @@ typedef enum {
   CHASSIS_ACTION_NONE, /* 无动作 */
   CHASSIS_ACTION_STAND, /* 站立动作 */
   CHASSIS_ACTION_WALK, /* 行走动作 */
+  CHASSIS_ACTION_TROT, /* 小跑动作 */
+  CHASSIS_ACTION_JUMP, /* 跳跃动作 */
+  CHASSIS_ACTION_RUN,
   CHASSIS_ACTION_NUM,
 }CMD_ChassisAction_t;
 
diff --git a/User/component/kinematics.c b/User/component/kinematics.c
index 4933dc5..b9f62f6 100644
--- a/User/component/kinematics.c
+++ b/User/component/kinematics.c
@@ -84,6 +84,10 @@ void Kinematics_ForwardKinematics(const float theta_in[3], const Kinematics_Link
 int8_t Kinematics_InverseKinematics(const float foot_in[3], const Kinematics_LinkLength_t *leg_params, float theta_out[3], Kinematics_Sign_t *sign) {
     float px = foot_in[0];
     float py = -foot_in[1];
+    if (sign->hip != sign->thigh){
+        py = foot_in[1];
+    }
+    
     float pz = foot_in[2];
 
     float b2y = leg_params->hip * sign->hip;
@@ -101,12 +105,7 @@ int8_t Kinematics_InverseKinematics(const float foot_in[3], const Kinematics_Lin
     float q3 = q3_ik(b3z, b4z, b);
     float q2 = q2_ik(q1, q3, px, py, pz, b3z, b4z);
 
-    // theta_out[0] = q1;
-    if (sign->hip == sign->thigh){
-        theta_out[0] = q1;
-    } else {
-        theta_out[0] = -q1;
-    }
+    theta_out[0] = q1;
     theta_out[1] = q2 * sign->thigh;
     theta_out[2] = q3 * sign->calf;
     return 0;
diff --git a/User/component/limiter.h b/User/component/limiter.h
index c584ff1..97bc6b9 100644
--- a/User/component/limiter.h
+++ b/User/component/limiter.h
@@ -11,10 +11,11 @@ extern "C" {
 #include <stdbool.h>
 #include <stdint.h>
 
-
 int8_t Limit_ChassicOutput(const float feedback_pos ,float *out_pos, 
   float max_speed, float max_angle, float min_angle);
 
+
+
 #ifdef __cplusplus
 }
 #endif
\ No newline at end of file
diff --git a/User/component/path.c b/User/component/path.c
new file mode 100644
index 0000000..3e88732
--- /dev/null
+++ b/User/component/path.c
@@ -0,0 +1,62 @@
+/*
+  一些路径生成器
+*/
+
+#include "path.h"
+
+/**
+ * @brief 生成一条直线段的路径点
+ * @param start 起始点
+ * @param end 结束点
+ * @param t 时间路径点，范围[0, 1]
+ * @param out 输出路径点
+ */
+void Path_Straight2d(float start[2], float end[2], float t, float out[2]){
+    out[0] = start[0] + (end[0] - start[0]) * t; // x坐标插值
+    out[1] = start[1] + (end[1] - start[1]) * t; // y坐标插值
+}
+
+/**
+ * @brief 生成一条三维直线段的路径点
+ * @param start 起始点
+ * @param end 结束点
+ * @param t 时间路径点，范围[0, 1]
+ * @param out 输出路径点
+ */
+void Path_straight3d(float start[3], float end[3], float t, float out[3]){
+    out[0] = start[0] + (end[0] - start[0]) * t; // x坐标插值
+    out[1] = start[1] + (end[1] - start[1]) * t; // y坐标插值
+    out[2] = start[2] + (end[2] - start[2]) * t; // z坐标插值
+}
+
+/**
+ * @brief 生成一条二次贝塞尔曲线的路径点
+ * @param start 起始点
+ * @param mid 中间控制点
+ * @param end 结束点
+ * @param t 时间路径点，范围[0, 1]
+ * @param out 输出路径点
+ */
+void Path_Bezier2d(float start[2], float mid[2], float end[2], float t, float out[2]){
+    float t1 = 1 - t; // 计算1-t
+    out[0] = t1 * t1 * start[0] + 2 * t1 * t * mid[0] + t * t * end[0]; // x坐标插值
+    out[1] = t1 * t1 * start[1] + 2 * t1 * t * mid[1] + t * t * end[1]; // y坐标插值
+}
+
+/**
+ * @brief 生成一条三次贝塞尔曲线的路径点
+ * @param start 起始点
+ * @param mid1 中间控制点1
+ * @param mid2 中间控制点2
+ * @param end 结束点
+ * @param t 时间路径点，范围[0, 1]
+ * @param out 输出路径点
+ */
+void Path_Bezier3d(float start[3], float mid1[3], float mid2[3], float end[3], float t, float out[3]){
+    float t1 = 1 - t; // 计算1-t
+    out[0] = t1 * t1 * t1 * start[0] + 3 * t1 * t1 * t * mid1[0] + 3 * t1 * t * t * mid2[0] + t * t * t * end[0]; // x坐标插值
+    out[1] = t1 * t1 * t1 * start[1]
+                + 3 * t1 * t1 * t * mid1[1] + 3 * t1 * t * t * mid2[1] + t * t * t * end[1]; // y坐标插值
+    out[2] = t1 * t1 * t1 * start[2]
+                + 3 * t1 * t1 * t * mid1[2] + 3 * t1 * t * t * mid2[2] + t * t * t * end[2]; // z坐标插值
+}
diff --git a/User/component/path.h b/User/component/path.h
new file mode 100644
index 0000000..5759e4e
--- /dev/null
+++ b/User/component/path.h
@@ -0,0 +1,58 @@
+/*
+  一些路径生成器
+*/
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+#include <stdint.h>
+
+/**
+ * @brief 生成一条直线段的路径点
+ * @param start 起始点
+ * @param end 结束点
+ * @param t 时间路径点，范围[0, 1]
+ * @param out 输出路径点
+ */
+void Path_Straight2d(float start[2], float end[2], float t, float out[2]);
+
+/**
+ * @brief 生成一条三维直线段的路径点
+ * @param start 起始点
+ * @param end 结束点
+ * @param t 时间路径点，范围[0, 1]
+ * @param out 输出路径点
+ */
+void Path_straight3d(float start[3], float end[3], float t, float out[3]);
+
+/**
+ * @brief 生成一条二次贝塞尔曲线的路径点
+ * @param start 起始点
+ * @param mid 中间控制点
+ * @param end 结束点
+ * @param t 时间路径点，范围[0, 1]
+ * @param out 输出路径点
+ */
+void Path_Bezier2d(float start[2], float mid[2], float end[2], float t, float out[2]);
+
+/**
+ * @brief 生成一条三次贝塞尔曲线的路径点
+ * @param start 起始点
+ * @param mid1 中间控制点1
+ * @param mid2 中间控制点2
+ * @param end 结束点
+ * @param t 时间路径点，范围[0, 1]
+ * @param out 输出路径点
+ */
+void Path_Bezier3d(float start[3], float mid1[3], float mid2[3], float end[3], float t, float out[3]);
+
+
+
+
+#ifdef __cplusplus
+}
+#endif
\ No newline at end of file
diff --git a/User/module/chassis.c b/User/module/chassis.c
index f8ab5a1..13d5a5c 100644
--- a/User/module/chassis.c
+++ b/User/module/chassis.c
@@ -8,15 +8,16 @@
 #include <stdlib.h>
 
 #include "cmsis_os2.h"
-// #include "component/limiter.h"
 #include "device/go.h"
 #include "component/limiter.h"
+#include "component/kinematics.h"
+#include "component/path.h"
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
 
-/*底盘默认高度*/
 #define CHASSIS_DEFAULT_HEIGHT (0.2f) /* 底盘默认高度，单位：米 */
-#define CHASSIS_MAX_SPEED (0.03f)
+
+#define CHASSIS_MAX_SPEED (0.03f) /*调试用速度限幅*/
 /* Private macro ------------------------------------------------------------ */
 
 
@@ -42,40 +43,40 @@ static Kinematics_JointCMD_t position_mode = {
     .T = 0.0f, /* 零力矩 */
     .W = 0.0f, /* 零速度 */
     .Pos = 0.0f, /* 零位置 */
-    .K_P = 1.0f, /* 刚度系数 */
-    .K_W = 0.1f, /* 速度系数 */
+    .K_P = 3.0f, /* 刚度系数 */
+    .K_W = 0.2f, /* 速度系数 */
 };
 
-static uint8_t chassis_mode_states = 0;
-static uint8_t chassis_action_states = 0;
+// static uint8_t chassis_mode_states = 0;
+// static uint8_t chassis_action_states = 0;
+static uint8_t stage = 0;
 /* Private function  -------------------------------------------------------- */
 /**
- * \brief 设置底盘模式
+ * \brief 设置底盘运行模式
  *
  * \param c 包含底盘数据的结构体
  * \param mode 要设置的模式
  *
  * \return 函数运行结果
  */
-// static int8_t Chassis_SetMode(Chassis_t *c, CMD_ChassisMode_t mode,
-//                               uint32_t now) {
-//   if (c == NULL) return CHASSIS_ERR_NULL; /* 主结构体不能为空 */
-//   if (mode == c->mode) return CHASSIS_OK; /* 模式未改变直接返回 */
+static int8_t Chassis_SetMode(Chassis_t *c, CMD_ChassisCmd_t *c_cmd) {
+  if (c == NULL) return CHASSIS_ERR_NULL; /* 主结构体不能为空 */
+  if (c_cmd == NULL) return CHASSIS_ERR_NULL; /* 控制指令不能为空 */
 
-//   if (mode == CHASSIS_MODE_ROTOR && c->mode != CHASSIS_MODE_ROTOR) {
-//     srand(now);
-//     c->wz_multi = (rand() % 2) ? -1 : 1;
-//   }
-//   /* 切换模式后重置PID和滤波器 */
-//   for (uint8_t i = 0; i < c->num_wheel; i++) {
-//     PID_Reset(c->pid.motor + i);
-//     LowPassFilter2p_Reset(c->filter.in + i, 0.0f);
-//     LowPassFilter2p_Reset(c->filter.out + i, 0.0f);
-//   }
-//   c->mode = mode;
-
-//   return CHASSIS_OK;
-// }
+  if (c->mode != c_cmd->mode) { /* 如果当前模式和要设置的模式不同 */
+    c->mode = c_cmd->mode; /* 更新底盘模式 */
+    stage = 0; /* 重置阶段 */
+    c->time = 0.0f; /* 重置时间 */
+    c->height = CHASSIS_DEFAULT_HEIGHT; /* 重置底盘高度 */
+  }
+  if (c->action != c_cmd->action) { /* 如果当前动作和要设置的动作不同 */
+    c->action = c_cmd->action; /* 更新底盘动作 */
+    stage = 0; /* 重置阶段 */
+    c->time = 0.0f; /* 重置时间 */
+    c->height = CHASSIS_DEFAULT_HEIGHT; /* 重置底盘高度 */
+  }
+  return CHASSIS_OK;
+}
 
 /* Exported functions ------------------------------------------------------- */
 
@@ -94,10 +95,25 @@ int8_t Chassis_Init(Chassis_t *c, const Chassis_Params_t *param,
 
   c->param = param;             /* 初始化参数 */
   c->mode = CHASSIS_MODE_RELAX; /* 设置上电后底盘默认模式 */
-
   c->height = CHASSIS_DEFAULT_HEIGHT; /* 设置底盘默认高度为0.2米 */
-  
+
+  c->pid.motor_id = BSP_Malloc(GO_MOTOR_MODE_NUM * sizeof(*c->pid.motor_id));
+  if (c->pid.motor_id == NULL) goto error;
+
+  c->filter.in = BSP_Malloc(GO_MOTOR_MODE_NUM * sizeof(*c->filter.in));
+  if (c->filter.in == NULL) goto error;
+
+  c->filter.out = BSP_Malloc(GO_MOTOR_MODE_NUM * sizeof(*c->filter.out));
+  if (c->filter.out == NULL) goto error;
+
 return CHASSIS_OK; /* 返回成功 */
+
+error:
+  /* 动态内存分配错误时，释放已经分配的内存，返回错误值 */
+  BSP_Free(c->pid.motor_id);
+  BSP_Free(c->filter.in);
+  BSP_Free(c->filter.out);
+  return CHASSIS_ERR_NULL;
 }
 
 /**
@@ -123,92 +139,163 @@ int8_t Chassis_Control(Chassis_t *c, const CMD_ChassisCmd_t *c_cmd, uint32_t now
 
   c->dt = (float)(now - c->lask_wakeup) / 1000.0f;
   c->lask_wakeup = now;
-  c->mode = c_cmd->mode; /* 设置底盘模式 */
-
+  c->time += c->dt; /* 更新用于生成动作的时间 */
+  // while (c->time > 1.0f) { c ->time -= 1.0f; } /* 保持时间在0-1秒之间 */
 
+  Chassis_SetMode(c, c_cmd); /* 设置底盘模式和动作 */
 
   switch (c->mode) {
     case CHASSIS_MODE_RELAX: /* 放松模式，电机不输出 */
       c->output = (GO_ChassisCMD_t){0}; /* 清空输出 */
-      chassis_mode_states = CHASSIS_MODE_RELAX; /* 更新状态 */
+      c->mode = CHASSIS_MODE_RELAX; /* 更新状态 */
+      c->action = CHASSIS_ACTION_NONE; /* 清除动作状态 */
+      c->time = 0.0f; /* 重置时间 */
       break;
     case CHASSIS_MODE_DAMP: /* 阻尼模式，电机闭环控制保持阻尼，用于安全模式放松 */
       for (uint8_t i = 0; i < GO_MOTOR_NUM; i++) {
         c->output.id[i] = damping_torque; /* 设置阻尼力矩 */
       }
-      chassis_mode_states = CHASSIS_MODE_DAMP; /* 更新状态 */
+      c->mode = CHASSIS_MODE_DAMP; /* 更新状态 */
+      c->action = CHASSIS_ACTION_NONE; /* 清除动作状态 */
+      c->time = 0.0f; /* 重置时间 */
       break;
-    case CHASSIS_MODE_RECOVER: /* 恢复模式，电机闭环控制恢复到初始位置。用于机器人上电后恢复到初始位置 */
-      if (chassis_mode_states != CHASSIS_MODE_RECOVER){
-        for (uint8_t i = 0; i < GO_MOTOR_NUM; i++) {
-          if (i % 3 == 0) { /* 每三个电机一个组 */
-            c->output.id[i].K_P = 1.0;
-            c->output.id[i].K_W = 0.1; /* 设置刚度系数和速度系数 */
-            c->output.id[i].Pos = 0.0f; /* 设置位置为零 */
-            c->output.id[i].T = 0.0f; /* 设置力矩为零 */
-            c->output.id[i].W = 0.0f; /* 设置速度为零 */
-          } 
-          else {
-            // c->output.id[i] = damping_torque; /* 设置阻尼力矩 */
-            c->output.id[i] = position_mode; /* 设置位置模式 */
-          }
+    case CHASSIS_MODE_POSITION:{
+      for (uint8_t i = 0; i < GO_MOTOR_NUM; i++) {
+              c->output.id[i] = position_mode; /* 设置位置模式 */}
 
-          // c->output.named.lf_thigh.Pos = 1.0f; /* 左前腿大腿位置 */
-          // c->output.named.lf_calf.Pos = 2.0f; /* 左前腿小腿位置 */
-          // c->output.named.rf_thigh.Pos = -1.0f; /* 右前腿大腿位置 */
-          // c->output.named.rf_calf.Pos = -2.0f; /* 右前腿小腿位置 */
-          // c->output.named.lr_thigh.Pos = 1.0f; /* 左后腿大腿位置 */
-          // c->output.named.lr_calf.Pos = 2.0f; /* 左后腿小腿位置 */
-          // c->output.named.rr_thigh.Pos = -1.0f; /* 右后腿大腿位置 */
-          // c->output.named.rr_calf.Pos = -2.0f; /* 右后腿小腿位置 */
-          c->output.named.lf_thigh.Pos = c->height * 5;
-          c->output.named.lf_calf.Pos = c->height * 10;
-          c->output.named.rf_thigh.Pos = -c->height * 5;
-          c->output.named.rf_calf.Pos = -c->height * 10;
-          c->output.named.lr_thigh.Pos = c->height * 5;
-          c->output.named.lr_calf.Pos = c->height * 10;
-          c->output.named.rr_thigh.Pos = -c->height * 5;
-          c->output.named.rr_calf.Pos = -c->height * 10;
-          chassis_mode_states = CHASSIS_MODE_RECOVER; /* 更新状态 */
+      switch (c->action) {
+        case CHASSIS_ACTION_NONE:{
+          for (uint8_t i = 0; i < GO_MOTOR_NUM; i++) {
+            c->output.id[i].Pos = c->feedback.id[i].Pos;}
+          c->mode = CHASSIS_MODE_POSITION;
+          c->action = CHASSIS_ACTION_NONE;
+          c->time = 0.0f; /* 重置时间 */
+          break;
         }
-        break;
+
+        case CHASSIS_ACTION_STAND:{
+          c->height = c->height + c_cmd->delta_hight * c->dt; /* 更新底盘高度 */
+          for (uint8_t i = 0; i < GO_MOTOR_NUM/3; i++) {
+            if (i % 2 == 0) { /* 左前腿和右后腿 */
+              float target_pose[3] = {0.0, -0.0861, -c->height};
+              float angle_pose[3];
+              Kinematics_InverseKinematics(target_pose, &c->param->mech_param.length, angle_pose, &c->param->mech_param.sign.leg[i]);
+              c->output.id[i * 3].Pos = angle_pose[0]; /* 左前腿髋关节 */
+              c->output.id[i * 3 + 1].Pos = angle_pose[1]; /* 左前腿大腿 */
+              c->output.id[i * 3 + 2].Pos = angle_pose[2]; /* 左前腿小腿 */
+            } else {
+              float target_pose[3] = {0.0, 0.0861, -c->height}; /* 右前腿和左后腿 */
+              float angle_pose[3];
+              Kinematics_InverseKinematics(target_pose, &c->param->mech_param.length, angle_pose, &c->param->mech_param.sign.leg[i]);
+              c->output.id[i * 3].Pos = angle_pose[0]; /* 右前腿髋关节 */
+              c->output.id[i * 3 + 1].Pos = angle_pose[1]; /* 右前腿大腿 */
+              c->output.id[i * 3 + 2].Pos = angle_pose[2]; /* 右前腿小腿 */
+            }
+          }
+          break;
+        } /* 站立动作 */
+
+        case CHASSIS_ACTION_WALK:{
+            c->height = c->height + c_cmd->delta_hight * c->dt;
+            float T = 2.0f; // 步态周期(s)
+            float swing_height = 0.15f; // 摆动腿抬高高度
+            float stride_x = c_cmd->ctrl_vec.vx * T; // x方向步幅
+            float stride_y = c_cmd->ctrl_vec.vy * T; // y方向步幅
+            float wz = c_cmd->ctrl_vec.wz; // 旋转速度
+
+            uint8_t swing_leg = (uint8_t)(c->time / (T / 4)) % 4; // 当前摆动腿编号
+            float t_phase = fmodf(c->time, T / 4) / (T / 4); // 当前腿相内归一化时间
+
+            for (uint8_t leg = 0; leg < 4; leg++) {
+                float target_pose[3];
+                float base_y = (leg % 2 == 0) ? -0.0861f : 0.0861f;
+                float base_x = 0.0f;
+
+                if (leg == swing_leg) {
+                    // 摆动腿：贝塞尔轨迹，抬高并前移
+                    float start[3] = {base_x - stride_x/2, base_y - stride_y/2, -c->height};
+                    float mid1[3] = {base_x, base_y, -c->height + swing_height};
+                    float mid2[3] = {base_x, base_y, -c->height + swing_height};
+                    float end[3] = {base_x + stride_x/2, base_y + stride_y/2, -c->height};
+                    Path_Bezier3d(start, mid1, mid2, end, t_phase, target_pose);
+                } else {
+                    // 支撑腿：3/4周期内走完整步幅的1/3
+                    // 计算支撑腿在支撑相内的归一化时间
+                    uint8_t support_leg_index = (leg + 4 - swing_leg) % 4;
+                    float support_phase = fmodf(c->time + (T / 4) * support_leg_index, T) / (T * 3.0f / 4.0f);
+                    if (support_phase > 1.0f) support_phase = 1.0f;
+
+                    // 支撑腿分三段，每段1/3步幅
+                    float seg = support_phase * 3.0f; // [0,3)
+                    int seg_idx = (int)seg; // 0,1,2
+                    float seg_phase = seg - seg_idx; // [0,1)
+
+                    // 每段起止点
+                    float seg_start_x = base_x + stride_x/2 - stride_x * seg_idx / 3.0f;
+                    float seg_start_y = base_y + stride_y/2 - stride_y * seg_idx / 3.0f;
+                    float seg_end_x = base_x + stride_x/2 - stride_x * (seg_idx+1) / 3.0f;
+                    float seg_end_y = base_y + stride_y/2 - stride_y * (seg_idx+1) / 3.0f;
+
+                    Path_straight3d(
+                        (float[3]){seg_start_x, seg_start_y, -c->height},
+                        (float[3]){seg_end_x, seg_end_y, -c->height},
+                        seg_phase, target_pose
+                    );
+                }
+                float angle_pose[3];
+                Kinematics_InverseKinematics(target_pose, &c->param->mech_param.length, angle_pose, &c->param->mech_param.sign.leg[leg]);
+                c->output.id[leg * 3 + 0].Pos = angle_pose[0];
+                c->output.id[leg * 3 + 1].Pos = angle_pose[1];
+                c->output.id[leg * 3 + 2].Pos = angle_pose[2];
+            }
+            break;
+          }
+          
+
+        case CHASSIS_ACTION_TROT:{
+          float T = 0.6f; // 步态周期(s)
+          if (c->time > T) {
+            c->time -= T; // 保持时间在0-T之间
+          }
+          float stride_x = c_cmd->ctrl_vec.vx / 10.0f;
+          float stride_y = c_cmd->ctrl_vec.vy / 10.0f;
+          float swing_height = 0.15f; // 摆动腿抬高高度
+
+          // 对角腿分组：0-3一组，1-2一组
+          for (uint8_t leg = 0; leg < 4; leg++) {
+            float t_leg = fmodf(c->time + ((leg == 0 || leg == 3) ? 0.0f : T/2), T) / T; // 对角腿相差半周期
+            float base_y = (leg % 2 == 0) ? -0.0861f : 0.0861f;
+            float target_pose[3];
+            if (t_leg < 0.5f) {
+              // 摆动相，贝塞尔插值
+              float t_bezier = t_leg / 0.5f;
+              float start[3] = {-stride_x, base_y - stride_y, -c->height};
+              float mid1[3] = {0, base_y, -c->height + swing_height};
+              float mid2[3] = {0, base_y, -c->height + swing_height};
+              float end[3] = {stride_x, base_y + stride_y, -c->height};
+              Path_Bezier3d(start, mid1, mid2, end, t_bezier, target_pose);
+            } else {
+              // 支撑相，首尾相连，起点为上一个摆动相终点，终点为下一个摆动相起点
+              float t_line = (t_leg - 0.5f) / 0.5f;
+              float start[3] = {stride_x, base_y + stride_y, -c->height};    // 摆动相终点
+              float end[3]   = {-stride_x, base_y - stride_y, -c->height};   // 下一个摆动相起点
+              Path_straight3d(start, end, t_line, target_pose);
+            }
+            float angle_pose[3];
+            Kinematics_InverseKinematics(target_pose, &c->param->mech_param.length, angle_pose, &c->param->mech_param.sign.leg[leg]);
+            c->output.id[leg * 3 + 0].Pos = angle_pose[0];
+            c->output.id[leg * 3 + 1].Pos = angle_pose[1];
+            c->output.id[leg * 3 + 2].Pos = angle_pose[2];
+          }
+          break;
+        }
+
+
       }
-      c->output.named.lf_hip.Pos = 0.0f; /* 左前腿髋关节位置 */
-      c->output.named.lr_hip.Pos = 0.0f; /* 左后腿髋关节位置 */
-      c->output.named.rf_hip.Pos = 0.0f; /* 右前腿髋关节位置 */
-      c->output.named.rr_hip.Pos = 0.0f; /* 右后腿髋关节位置 */
-
-      c->height = c->height + c_cmd->delta_hight * c->dt; /* 更新底盘高度 */
-      c->output.named.lf_thigh.Pos = c->height * 5;
-      c->output.named.lf_calf.Pos = c->height * 10;
-      c->output.named.rf_thigh.Pos = -c->height * 5;
-      c->output.named.rf_calf.Pos = -c->height * 10;
-      c->output.named.lr_thigh.Pos = c->height * 5;
-      c->output.named.lr_calf.Pos = c->height * 10;
-      c->output.named.rr_thigh.Pos = -c->height * 5;
-      c->output.named.rr_calf.Pos = -c->height * 10;
-      chassis_mode_states = CHASSIS_MODE_RECOVER; /* 更新状态 */
-
-      for (uint8_t i = 0; i < 4; i++) {
-        float target_pose[3] = {0.0,0.0861,-c->height}; /* 目标位置 */
-        float angle_pose[3];
-        Kinematics_InverseKinematics(target_pose, &c->param->mech_param.length, angle_pose, &c->param->mech_param.sign.leg[i]); /* 逆运动学计算 */
-        c->output.id[i * 3].Pos = angle_pose[0]; /* 髋关节位置 */
-        c->output.id[i * 3 + 1].Pos = angle_pose[1]; /* 大腿位置 */
-        c->output.id[i * 3 + 2].Pos = angle_pose[2]; /* 小腿位置 */
-      }
-
-      // float target_pose[3] = {c_cmd->ctrl_vec.vx/10.0f, c_cmd->ctrl_vec.vy/10.0f, -0.2f}; /* 目标位置 */
-      // float target_pose[3] = {0.0,0.0,-0.2}; /* 目标位置 */
-      // float angle_pose[3];
-      // Kinematics_InverseKinematics(target_pose, &c->param->mech_param.length, angle_pose, &c->param->mech_param.sign.leg[0]); /* 逆运动学计算 */
-      // c->output.named.lf_hip.Pos = angle_pose[0]; /* 左前腿髋关节位置 */
-      // c->output.named.lf_thigh.Pos = angle_pose[1]; /* 左前腿大腿位置 */
-      // c->output.named.lf_calf.Pos = angle_pose[2]; /* 左前腿小腿位置 */
-      break;
+    }   
+    
   }
 
-  // Limit_ChassicOutput(&c->feedback, &c->output, 0.5, 0.0, 0.0);
   for (uint8_t i = 0; i < GO_MOTOR_NUM; i++) {
     /* 限制输出 */
     Limit_ChassicOutput(c->feedback.id[i].Pos, &c->output.id[i].Pos,
diff --git a/User/module/chassis.h b/User/module/chassis.h
index 0bb42b4..54452ec 100644
--- a/User/module/chassis.h
+++ b/User/module/chassis.h
@@ -126,6 +126,7 @@ typedef struct {
 typedef struct {
   uint32_t lask_wakeup;
   float dt;
+  float time;
 
   const Chassis_Params_t *param; /* 底盘的参数，用Chassis_Init设定 */
 
@@ -134,6 +135,7 @@ typedef struct {
   float height; /* 底盘高度，单位：米 */
   /* 模块通用 */
   CMD_ChassisMode_t mode; /* 底盘模式 */
+  CMD_ChassisAction_t action; /* 底盘模式 */
 
   /* 底盘设计 */
   int8_t num_joint; /* 关节数量 */
@@ -142,8 +144,7 @@ typedef struct {
 
   /* 反馈控制用的PID */
   struct {
-    KPID_t *motor; /* 控制轮子电机用的PID的动态数组 */
-    KPID_t follow; /* 跟随云台用的PID */
+    KPID_t *motor_id; /* 控制轮子电机用的PID的动态数组 */
   } pid;
 
   /* 滤波器 */
diff --git a/User/module/config.c b/User/module/config.c
index df69b03..263c8bf 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -103,7 +103,7 @@ Config_t param_default = {
 
                     .rr_hip = 2.85f,   /* 右后腿髋关节零点角度，单位：弧度 */
                     .rr_thigh = 10.81f, /* 右后腿大腿零点角度，单位：弧度 */
-                    .rr_calf = 4.83f + JOINT_CALF_OFFSET,  /* 右后腿小腿零点角度，单位：弧度 */
+                    .rr_calf = 3.59f + JOINT_CALF_OFFSET,  /* 右后腿小腿零点角度，单位：弧度 */
                 }
             },