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zero moment中文是什么意思

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  • 例句與用法
  • In order to realize biped steady dynamic walking , this paper adopted a trajectory of variable zmp ( zero moment point ) , which was defined as a cosine curve
    為了實現雙足穩定動步行,本文采用了余弦可變zmp ( zeromomentpoint )運動軌跡。
  • Firstly , gait pattern of humanoid robot is designed , which makes walking process of humanoid robot more stable and closer to real people . this is proved by zero moment point ( zmp ) criterion
    首先,本文對擬人機器人的步態進行了協調運動規劃,利用零力矩點( zmp )判據證實該規劃提高了步行的穩定性,美化了步行姿態。
  • Subsequent work ismeasuringforceandtorqueinformationbetween the feetofhumanoidrobotandgroundwiththesix - dimension force / torque sensors , and formularizing the calculation expression of realzmp ( zero moment point ) in single supporting phase and double supporting phase , which isusedascriteriaofstabilitythroughtheactualmotionofhumanoidrobot
    接著,利用安裝在腳部的六維力/力矩傳感器檢測地面力、力矩信息,進行穩定性分析。
  • Abstract : cable - stayed is used to cable suspension , but cable force is calculated by manual , and only for less than 5 segments , and the prescion is poor . this paper puts forward “ zero moment method ” , which can not only calculate more segmental soupe force , but both temporary joint and fixed joint during construction . the mechanical concept is clear , and it is easy for calculating . it is fit for program , and the illustrations prove that the methods are right
    文摘:斜拉扣掛在纜索吊裝中經常運用,但扣索索力多采用手工計算,且多用于5段以內的吊裝,計算復雜,精度低.本文提出“零彎矩法” ,可計算任意多段扣索索力,既可計算拱肋在施工過程中各節段臨時鉸接,又可計算各節段固結的情況,將兩種連接方式統一成一種計算方法,力學概念清楚,計算簡便,適宜程,文中最后用示例證實本方法的正確性
  • As the legged system has a similar dynamics to that of three - dimensional inverted pendulum mode , whose supporting point is equivalently located at the zmp , what is more , there is dynamical relationship between the zero moment point ( zmp ) and the center of gravity ( cog ) , so this paper proposed the method that controls the cog of the whole humanoid body system in real - time through the 3 - d inverted pendulum based on variable zmp : first , the irregular terrain analyzed and described , the author proposed an usual obstacles - spanning method , based on the position and the shape of obstacles , the author programmed the smooth trajectory of anklebones
    由于機器人的腿系統和三維倒立擺模型有著相似的動力學特征,模型的支撐點就是機器人的零力矩點zmp ,另外零力矩點zmp和重心cog之間存在著動態關系,本文采用基于可變zmp的三維倒立擺動力學原理來對類人猿機器人進行質心軌跡生成。首先,通過對復雜地況進行分類統一描述,提出了一套通用的越障軌跡規劃方法,結合復雜地況下障礙的位置和形狀,規劃了機器人連續的踝關節軌跡。
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