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.
使用ARM9处理器s3c 2410和RT - Linux构建小型拟人机器人控制器的系统架构，以拟人机器人的行走控制为例，从硬件和软件上介绍了控制器的实现方法。
The controller system architecture consists of a S3C2410 chip with the ARM9 core running RT-Linux. The implementation including hardware and software is illustrated by a robot walking example.
使用ARM9处理器s3c 2410和RT - Linux构建小型拟人机器人控制器的系统架构，以拟人机器人的行走控制为例，从硬件和软件上介绍了控制器的实现方法。
The controller system architecture consists of a S3C2410 chip with the ARM9 core running RT-Linux. The implementation including hardware and software is illustrated by a robot walking example.
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