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。

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It describes actualization of a sensory reflex, which consists of a body posture control, an ZMP control and a landing time control.

传感反射以加速度计、振动陀螺仪、力传感器获得的信息为依据，通过上体姿态控制、ZMP控制和落地时间控制实现传感反射控制。

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Second, the author introduced a new stability region, and programmed a trajectory of variable ZMP, which was defined as a cosine curve;

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；

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If a large enough percent of the population becoming ZMP, it creates a large constituency for a basic income payment.

FORBES: Will Hoverbikes Be More Important Than Tacocopters?

While ZMP workers may or may not currently be a big problem, it seems quite possible that it could be in the future.

FORBES: Will Hoverbikes Be More Important Than Tacocopters?

While a future where robots have taken a lot of our jobs and we live off the dole might still be a really awesome future, I think one where robots vastly increase productivity and wages without causing huge numbers of ZMP workers is likely to be better.

FORBES: Will Hoverbikes Be More Important Than Tacocopters?