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；

youdao

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；

youdao