Last,the equation and the algorithm are provided to estimate them with zero-torque method.
首先由加速度计坐标系定义平台坐标系,只需三个误差角完全表示该误差;然后优选三个特殊位置进行标定;最后给出了采用零力矩法估计它们的公式和算法。
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。
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。
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。
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。
On the basis of conception of zero moment, we can deduce the computational formula of the tension of cable in the different construction stage of the steel tube arch ribs.
斜拉扣挂施工中索力计算复杂,根据“零弯矩法”概念,推导出拱肋节段吊装中各施工阶段扣索索力的计算公式。
The Analysis of Anti-Turning Moment in DGP of mmW Seeker
毫米波导引头位标器中归零力矩的分析
Study of Torque Characteristic of Open Water Diagram at Zero-thrust Pitch of CPP
可调螺距螺旋桨零推力螺距敞水力矩特性研究
Moment loads, such as those described in Fig. 23, frequently occur in machine parts.
象图23中所示的那种力矩载荷经常在机械零件中出现。
If the flagpole is to remain stationary, one or more other forces must also be acting in order to make the total torque vanish.
如果旗杆保持不动，必定有一个或几个其它的力作用于旗杆，才能使总转矩为零。
If all the shells containing electrons are completely filled,the effects cancel out and each atom has a resultant zero magnetic moment.
如果有的电子层上均排满电子,则作用力互相抵消,而导致每个电子的磁矩为零。
A Sufficient and Necessary Condition for the Power of 3-order Real Matrix Converging 0-matrix;
实三阶矩阵幂收敛于零矩阵的一个充要条件
The zero or null matrix denoted by 0 is definde as a matrix all of whose elements are zero.
如果一个矩阵的所有元素都为零，则称它为零矩阵。
The Researches on the Zero Matrices and Identity Matrices for Linear Expression of Idempotent Matrices
幂等矩阵线性组合表出零矩阵和单位矩阵的研究
Rectangle '{0}' cannot have a width or height equal to zero.
矩形“{0}”的宽度或高度不能等于零。
a square matrix with all off-diagonal elements equal to zero.
不在对角线上的元素都等于零的矩阵。
a square matrix whose determinant is not zero.
决定因素不为零的正方形矩阵。
a square matrix whose determinant is zero.
决定因素是零的正方形矩阵。
But the bending moment at the central hinge must vanish.
但在中间铰处，弯矩必定为零。
The total internal torque in any system is equal to zero.
任何一个系统，其总内转矩等于零。
The molecule has a zero time-average dipole moment.
分子按时间平均的偶极矩为零。
Using Ⅱ-Jordan Nilpotent Matrices over Finite Fields to Construct Cartesian Authentication Codes;
利用Ⅱ-Jordan型幂零矩阵构造Cartesian认证码
A generalized inverse of non-zero matrix on Soft Algebra [0,1];
软代数[0,1]上非零矩阵的广义逆
Polynomial Maps with Additive-nilpotent Jacobian Matrix
带有可加幂零Jacobi矩阵的多项式映射