摘要
引入双足机器人研究中一个重要物理量——零力矩点ZMP(Zero Moment Point),研究其计算和测量方法,利用其分析双足机器人在单腿和双腿支撑时的作用范围,最后在二维和三维平面内对机器人的ZMP计算进行探讨,为稳定步态的设计做了理论铺垫.
A physics variable in research on biped robot-Zero Moment Point (ZMP) was introduced. Its account and measure methods were researched. Biped robot' s action area w'as analyzed while it was sustained with single leg or double legs. In the end the account of biped robot' s ZMP in planar and three dimensional plane was discussed.
出处
《佳木斯大学学报(自然科学版)》
CAS
2009年第1期7-9,12,共4页
Journal of Jiamusi University:Natural Science Edition