三脚支撑 meaning in English

trishores

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。