walking pattern造句

• The simulation results show that the designing method of walking pattern used in the paper can satisfy the biped robot ' s continuous and steady walking
  仿真结果显示本文所采用的步态规划方法可以满足机器人连续稳定行走的要求。
• Simulation results indicate that a stable limit cycle of dynamic walking is achieved , the planned walking pattern is realized , and the effectiveness of the proposed method is verified
  仿真实验表明，动态步行趋于一个稳定的极限环，实现了规划的行走模式，验证了该方法的有效性。
• Then , by making use of geometry restrains and walking restrains , the equation of robot ' s walking pattern based on parameter is derived . the walking pattern design based on parameter obviously predigests the kinematics and dynamics analysis
  然后，结合机器人的几何约束和运动约束，推导机器人参数化步态设计的推导公式，机器人步态的参数化设计大大方便了机器人的运动学和动力学分析。
• At last , under the environment of matlab , taking the track of zmp as the restrain and the minimum accelerations of joints as the optimizing aim , the parameter , which is supposed in the walking pattern design based on parameter , is optimized by genetic algorithm
  最后，在matlab环境下采用有约束的遗传算法，以zmp点的轨迹作为约束条件，以关节加速度最小为优化目标，对参数化步态设计中的参数进行优化并进行仿真。
• Second , the author introduced a new stability region , and programmed a trajectory of variable zmp , which was defined as a cosine curve ; the author also designed a cog - compensated method to keep the cog ’ s height ; based on dynamics of 3 - d inverted pendulum , the author educed the cog ’ s trajectory equation of the robot in the three - leg - support phase , and used third - order splint function to ensure the acceleration continuity of the robot ’ s cog in the four - leg - support phase . at last , walking patterns of the corresponding gait are generated through programmer design
  然后,提出了一种新的支撑区域选取方法,采用了按余弦规律变化的zmp运动轨迹;为了维持机器人行走时重心高度不变,采用了一套有效的质心高度保持方法;基于三维倒立摆模型,推导了机器人三脚支撑期质心运动轨迹方程;采用三次样条曲线插值规划了四足支撑期加速度连续的质心运动轨迹。