Simulation results show that properly selecting mass distribution of thigh, shin and trunk can increase ZMP stability threshold and walking efficiency greatly.
仿真实验结果表明，合理选择大腿、小腿和上身的质量分布可以显著增加ZMP稳定阈度和步行效率。
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。
Analysis the basic gait of robot on the frontal plane. Plan every joint movement, and judge the stability of dynamic walking by ZMP principle. Present the result of simulation.
分析拟人足球机器人前向行走基本步态，规划各关节的运动轨迹，并用ZMP判据判断动态步行稳定性，并给出仿真结果。
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.
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。
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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