point of zero moment 中文意思是什麼
point of zero moment
解釋
拐點-
Subsequent work ismeasuringforceandtorqueinformationbetween the feetofhumanoidrobotandgroundwiththesix - dimension force / torque sensors, and formularizing the calculation expression of realzmp ( zero moment point ) in single supporting phase and double supporting phase, which isusedascriteriaofstabilitythroughtheactualmotionofhumanoidrobot
接著，利用安裝在腳部的六維力/力矩傳感器檢測地面力、力矩信息，進行穩定性分析。 -
Stability simulation of a humanoid robot with fictitious zero - moment point
的擬人機器人行走穩定性模擬 -
Firstly, gait pattern of humanoid robot is designed, which makes walking process of humanoid robot more stable and closer to real people. this is proved by zero moment point ( zmp ) criterion
首先，本文對擬人機器人的步態進行了協調運動規劃，利用零力矩點（ zmp ）判據證實該規劃提高了步行的穩定性，美化了步行姿態。 -
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。 -
In order to realize biped steady dynamic walking, this paper adopted a trajectory of variable zmp ( zero moment point ), which was defined as a cosine curve
為了實現雙足穩定動步行，本文採用了餘弦可變zmp （ zeromomentpoint ）運動軌跡。 -
The concept of the longitudinal strength of ship hulls has changed and advanced greatly as the study on the failure mechanism of the hull is getting deep. by taking account the failure modes of yielding, buckling and their combination, as well as the non - linear interactions between structural members, the ultimate longitudinal bending moment is defined by the moment corresponding to the point with zero slope on the moment - curvature curve of the ship hull
但隨著對船舶破壞機理的認識和研究發現，在研究船體的總縱極限強度時，必須考慮構件的屈曲、屈服等各種可能的破壞模式，要考慮受壓構件屈曲后及崩潰后的非線性性能的影響，要考慮組成船體的各個構件發生破壞的漸進性質和相互作用等。
分享友人