zero moment meaning in English
零矩
零力矩
Examples
- 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。 - Firstly , gait pattern of humanoid robot is designed , which makes walking process of humanoid robot more stable and closer to real people . this is proved by zero moment point ( zmp ) criterion
首先,本文对拟人机器人的步态进行了协调运动规划,利用零力矩点( zmp )判据证实该规划提高了步行的稳定性,美化了步行姿态。 - Subsequent work ismeasuringforceandtorqueinformationbetween the feetofhumanoidrobotandgroundwiththesix - dimension force / torque sensors , and formularizing the calculation expression of realzmp ( zero moment point ) in single supporting phase and double supporting phase , which isusedascriteriaofstabilitythroughtheactualmotionofhumanoidrobot
接着,利用安装在脚部的六维力/力矩传感器检测地面力、力矩信息,进行稳定性分析。 - Abstract : cable - stayed is used to cable suspension , but cable force is calculated by manual , and only for less than 5 segments , and the prescion is poor . this paper puts forward “ zero moment method ” , which can not only calculate more segmental soupe force , but both temporary joint and fixed joint during construction . the mechanical concept is clear , and it is easy for calculating . it is fit for program , and the illustrations prove that the methods are right
文摘:斜拉扣挂在缆索吊装中经常运用，但扣索索力多采用手工计算，且多用于5段以内的吊装，计算复杂，精度低.本文提出“零弯矩法” ，可计算任意多段扣索索力，既可计算拱肋在施工过程中各节段临时铰接，又可计算各节段固结的情况，将两种连接方式统一成一种计算方法，力学概念清楚，计算简便，适宜程，文中最后用示例证实本方法的正确性 - As the legged system has a similar dynamics to that of three - dimensional inverted pendulum mode , whose supporting point is equivalently located at the zmp , what is more , there is dynamical relationship between the zero moment point ( zmp ) and the center of gravity ( cog ) , so this paper proposed the method that controls the cog of the whole humanoid body system in real - time through the 3 - d inverted pendulum based on variable zmp : first , the irregular terrain analyzed and described , the author proposed an usual obstacles - spanning method , based on the position and the shape of obstacles , the author programmed the smooth trajectory of anklebones
由于机器人的腿系统和三维倒立摆模型有着相似的动力学特征,模型的支撑点就是机器人的零力矩点zmp ,另外零力矩点zmp和重心cog之间存在着动态关系,本文采用基于可变zmp的三维倒立摆动力学原理来对类人猿机器人进行质心轨迹生成。首先,通过对复杂地况进行分类统一描述,提出了一套通用的越障轨迹规划方法,结合复杂地况下障碍的位置和形状,规划了机器人连续的踝关节轨迹。