【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.更多还原

【Abstract】 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 was 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.更多还原