求圓心規 的英文怎麼說
中文拼音 [qiúyuánxīnguī]
求圓心規
英文
center square-
The assemblage angle and maximum step are studied, the method to calculate the maximum step of random structure paramers and random walking orientations is proposed and some formulations are deduced. the singularity and singularity workspace are analysed. based in zmp theory, the track programming is finished depending on leg position workspace
根據zmp理論，在腿位置運動空間內作了軌跡規劃，劃分了步行周期，求出了腳圓心的軌跡，對速度和加速度作了規劃，應用離線軌跡規劃方法，給出了離線求取桿長伸長值及速度值的演算法框圖。
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