ZMP的音标

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；

With a stable and fixed parameterized gait, ZMP stability margin is analyzed while changing the robot links'mass, moment of inertia and CM ( center of mass) position.

采用稳定的参数化步态，在步态不变的情况下，改变机器人各连杆的质量、转动惯量和质心位置，分析其对ZMP稳定裕度的影响。

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.

为了实现双足稳定动步行，本文采用了余弦可变ZMP（zero moment point）运动轨迹。