With a stable and fixed parameterized gait, ZMP stability margin is analyzed while changing the robot links' mass, moment of inertia and CM (center of mass) position.
采用稳定的参数化步态，在步态不变的情况下，改变机器人各连杆的质量、转动惯量和质心位置，分析其对ZMP稳定裕度的影响。
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。
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；
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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