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。
Furthermore, based on the ZMP theory, the structure and gait optimization method were integrated to modify the gait locomotion.
论文重点讨论了动态步行的算法设计和仿真，详细分析了基于零力矩点的仿人机器人动态步行运动规划方法。
Then we laid emphasis on algorithm design and simulation for dynamic walking motion planning. The dynamic motion planning method based on ZMP (Zero Moment Point) has been discussed in detail.
一个物体若要在某一点处处于转动平衡，在这一点处的总力矩必须为零。
For an object to be in rotational equilibrium about a certain point, the total torque about this point must be zero.
一个物体若要在某一点处处于转动平衡，在这一点处的总力矩必须为零。
For an object to be in rotational equilibrium about a certain point, the total torque about this point must be zero.
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