Using these commands, we can control the behavior of CLPPlus by specifying the actions to be performed like EXIT or CONTINUE whenever an error occurs.
使用这些命令，我们可以控制CLPPlus的行为，即在每当有错误出现时指定要执行的操作，比如EXIT或CONTINUE。
The strategy utilizes with ZMP error and its change, compensates the motion control commands of pitch and roll DOFs of support ankle joint online.
该策略根据ZMP误差及其误差变化，实时补偿支撑踝关节自由度的运动角度。
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