On the basis of conception of zeromoment, we can deduce the computational formula of the tension of cable in the different construction stage of the steel tube arch ribs.
Then we laid emphasis on algorithm design and simulation for dynamic walking motion planning. The dynamic motion planning method based on ZMP (ZeroMoment Point) has been discussed in detail.
论文重点讨论了动态步行的算法设计和仿真,详细分析了基于零力矩点的仿人机器人动态步行运动规划方法。
3
Generally, people can say how they feel at a given moment, on a scale of zero to ten.