cosine curve meaning in English
余弦曲线
Examples
- Let's now examine the simplest wave form where the profile is a sine or cosine curve .
现在让我们来考察最简单的波形，它的剖面图是正弦或余弦曲线。 - In order to realize biped steady dynamic walking , this paper adopted a trajectory of variable zmp ( zero moment point ) , which was defined as a cosine curve
为了实现双足稳定动步行,本文采用了余弦可变zmp ( zeromomentpoint )运动轨迹。 - In order to increase the shooting times and shooting effects and on the analysis of the human soccer tape extraordinary technology , this paper introduce cosine curve into the goal line of robot
为提高足球机器人在比赛中的射门次数,以及射门效率,在分析了人类足球中盘带过人等技术的基础上,引入余弦曲线作为机器人射门路线。 - Second , the author introduced a new stability region , and programmed a trajectory of variable zmp , which was defined as a cosine curve ; the author also designed a cog - compensated method to keep the cog ’ s height ; based on dynamics of 3 - d inverted pendulum , the author educed the cog ’ s trajectory equation of the robot in the three - leg - support phase , and used third - order splint function to ensure the acceleration continuity of the robot ’ s cog in the four - leg - support phase . at last , walking patterns of the corresponding gait are generated through programmer design
然后,提出了一种新的支撑区域选取方法,采用了按余弦规律变化的zmp运动轨迹;为了维持机器人行走时重心高度不变,采用了一套有效的质心高度保持方法;基于三维倒立摆模型,推导了机器人三脚支撑期质心运动轨迹方程;采用三次样条曲线插值规划了四足支撑期加速度连续的质心运动轨迹。 - Firstly , making out the walking poses and tracks of the robot , according to the study on the humans ’ gait and the sine and cosine curves are used to program its center - of - gravity track and its feet - lifting track . secondly , the kinematics model is established , and according to the constraint and the programmed tracks , the kinematics equations of each walking stages are available . then find the solutions of each equation and get the motion curves of its joints , which are also the motion curves of the mini - servomotor
首先,结合对人类行走步态的研究,规划机器人行走姿态及轨迹;在此基础上建立并求解运动学方程,获得机器人行走时各关节的转角曲线;最后,针对前向运动与侧向运动之间的耦合,对求得的运动曲线进行修正,使机器人在保证稳定的前提下,动作更加流畅。