腳步變換 的英文怎麼說
中文拼音 [jiǎobùbiànhuàn]
腳步變換
英文
foot changes-
The sledges dashed along side by side, even more swiftly, and the horses hoofs flew up and down more and more quickly
幾輛並排的三駕雪橇駛行得更快，疾馳的馬兒飛快地變換腳步。Bending his foaming nose to his chest, arching his tail, and seeming to skim through the air without touching the earth, bedouin, as though he, too, were conscious of the tsars eye upon him, flew by in superb style, with a graceful high action of his legs
貝杜英把那吐出白沫的馬嘴低垂到胸前，翹起尾巴，彷彿腳不沾地地騰空飛奔似的，動作很優美，它高高地抬起四腳，變換步法，好像它也覺察到國王向它投射的目光，它於是威風凜凜地走過去了。Based on variable zmp and dynamics of 3 - 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. and we used third - order spline function to ensure the acceleration continuity of the robot ’ s cog in the double - support phase. thereby, the smooth trajectory of cog was gained by planning
由基於可變zmp和三維倒立擺的動力學原理，推導出了單腳支撐期內和步行方式轉換期間機器人的質心運動軌跡方程;並採用三次樣條曲線來保證機器人在雙腳支撐期質心加速度的連續性，從而由規劃得到了光滑的質心運動軌跡。
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