零力矩点 meaning in English
moment zero point
point of zero moment
Examples
- Furthermore , based on the zmp theory , the structure and gait optimization method were integrated to modify the gait locomotion
进一步基于零力矩点理论，提出了一种综合机构修正和步态修正方法的步态规划集成优化策略。 - 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。 - 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。