Furthermore, based on the ZMP theory, the structure and gait optimization method were integrated to modify the gait locomotion.
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。
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；
The strategy utilizes with ZMP error and its change, compensates the motion control commands of pitch and roll DOFs of support ankle joint online.
该策略根据ZMP误差及其误差变化，实时补偿支撑踝关节自由度的运动角度。
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。
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.
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。
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。
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。
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