单面齿
Based on variable ZMP and dynamics of3-D inverted pendulum, we educed the COG ( Center Of Gravity)'s trajectory equation of the robot in the single-support phase and transition of locomotion phase.
由基于可变ZMP和三维倒立摆的动力学原理,推导出了单脚支撑期内和步行方式转换期间机器人的质心运动轨迹方程;
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