论文部分内容阅读
Dynamic stable walking of biped robot is one of the difficulties in robotics.The zero moment point(ZMP)method,as a walking stability criterion,is applicable to static and quasi dynamic walking.However,during the dynamic motion process of human beings,such as giant strides walking or acceleration walking,there exists the phenomenon that the ZMP is outside the polygon area formed with support feet and ground,the ZMP is not satisfied but the walking still remain stable.