针对步行器助行过程中存在的安全问题，研制了一套步态稳定性监测系统。
For solving the security problem during walker-assisted walking, a gait stability monitoring system was developed.
在髋关节和座椅之间设计了减震系统，并建立了减震系统模型，分析了减震系统对于步态稳定性的作用。
A damping system between the hip joint and the seat is considered and a model is proposed to analyse its effect on walking stability.
在仿生学原理的基础上，对六足步行机器人三角步态的行走原理和稳定性进行了分析。
Based on the principles of bionics, the tripod gait of a hexapod walking robot and the static stability is analyzed in this paper.
文章针对两足步行椅机器人介绍了其步态规划中步行稳定性的计算方法。
In this paper, a computation method for the walking stability of biped walking-chair robot in gait planning is discussed focused on forward motion.
分析拟人足球机器人前向行走基本步态，规划各关节的运动轨迹，并用ZMP判据判断动态步行稳定性，并给出仿真结果。
Analysis the basic gait of robot on the frontal plane. Plan every joint movement, and judge the stability of dynamic walking by ZMP principle. Present the result of simulation.
四足机器人爬行控制的关键是机器人稳定性的判断、步态的选择和关节位置姿态的确定。
The key of quadruped robot walking control is stability, choice of gait and location and gesture of arthrosis.
本文以ZMP稳定性判据作为仿人机器人步态行走的稳定性判据，主要研究如何设计并实现仿人机器人脚底传感系统在线获取ZMP，并对机器人进行稳定性控制。
Through designing and realizing foot sensor system, this research is order to on-line access ZMP point, and use it as walking stability criterion to control humanoid robot achieve stable walking.
本文以ZMP稳定性判据作为仿人机器人步态行走的稳定性判据，主要研究如何设计并实现仿人机器人脚底传感系统在线获取ZMP，并对机器人进行稳定性控制。
Through designing and realizing foot sensor system, this research is order to on-line access ZMP point, and use it as walking stability criterion to control humanoid robot achieve stable walking.
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