irregular variable 中文意思是什麼
irregular variable
解釋
不規則變星-
It is a highly variable and irregular source with x - ray emission that flickers in a hundredth of a second burst
它是一個不規則的快速變化的x射線輻射源，每秒鐘閃爍100次。 -
As the legged system has a similar dynamics to that of three - dimensional inverted pendulum mode, whose supporting point is equivalently located at the zmp, what is more, there is dynamical relationship between the zero moment point ( zmp ) and the center of gravity ( cog ), so this paper proposed the method that controls the cog of the whole humanoid body system in real - time through the 3 - d inverted pendulum based on variable zmp : first, the irregular terrain analyzed and described, the author proposed an usual obstacles - spanning method, based on the position and the shape of obstacles, the author programmed the smooth trajectory of anklebones
由於機器人的腿系統和三維倒立擺模型有著相似的動力學特徵，模型的支撐點就是機器人的零力矩點zmp ，另外零力矩點zmp和重心cog之間存在著動態關系，本文採用基於可變zmp的三維倒立擺動力學原理來對類人猿機器人進行質心軌跡生成。首先，通過對復雜地況進行分類統一描述，提出了一套通用的越障軌跡規劃方法，結合復雜地況下障礙的位置和形狀，規劃了機器人連續的踝關節軌跡。
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