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。

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Possibilites of the capture of high speed motion target realized by step-by-step method and multi-targets recognition tracking achieved by drifting off its tracking zero point were proposed.

提出了用步进法实现快速运动目标的捕获和在跟踪过程中用拉偏跟踪零点的方法实现多目标识别跟踪的可能性。

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