1) FZMP
虚拟零力矩点
1.
The relationship between Fictitious Zero-Moment Point(FZMP) and support polygon is described,and then a new control optimization strategy based on FZMP is presented.
论文首先讨论了虚拟零力矩点与支撑多边形的位置关系,然后提出了一种基于虚拟零力矩点的优化控制策略,最后采用遗传算法对步态进行优化,仿真结果表明能够提高机器人步态规划的实时性。
2.
Otherwise, the desired trajectories are modified by FZMP control strategy.
首先引入了虚拟零力矩点的概念,然后推导了上下楼梯稳定区域和稳定裕量的计算方法,如果ZMP点在稳定区域内,则采用基于ZMP在线调整控制方案,提高稳定性。
2) dummy zero
虚拟零点
3) ZMP(zero moment point)
零力矩点
1.
The distance between the ZMP(zero moment point) and the center of the supporting region was defined as instability capacity,and the instability capacities of several typical walking patterns were analyzed.
将零力矩点(ZMP,Zero Moment Point)与机器人支撑区域的形心之间的距离定义为不稳定度,分析了仿人型机器人行走过程中几种典型步态的不稳定度,同时提出了基于不稳定度的仿人型机器人步态规划的方法。
4) ZMP
零力矩点
1.
And the chosen basic variables can reflect the motion state of humanoid robots, including ZMP, Center of Gravity (CoG), Center of Coxa (CoC), foot position and rotational matrices between some key frames.
该基本变量集包含零力矩点、仿人机器人重心(CoG)、髋部中心(CoC)、脚掌位置及相关关键姿态关系,所提方法结合仿人机器人动力学约束和物理约束,给出了关键变量集的规划和计算方法。
2.
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。
3.
The relationship between Fictitious Zero-Moment Point(FZMP) and support polygon is described,and then a new control optimization strategy based on FZMP is presented.
论文首先讨论了虚拟零力矩点与支撑多边形的位置关系,然后提出了一种基于虚拟零力矩点的优化控制策略,最后采用遗传算法对步态进行优化,仿真结果表明能够提高机器人步态规划的实时性。
5) zero moment point(ZMP)
零力矩点(ZMP)
6) method of zero moment points
零点力矩法
补充资料：纯轧力矩(见轧制力矩)
纯轧力矩(见轧制力矩)
net rolling torque
ehunzha iiju纯轧力矩(net rolling torque)见轧制力矩。
说明：补充资料仅用于学习参考，请勿用于其它任何用途。
参考词条