ZMP 实现机器人行走
ZMP实现机器人行走ThispaperisdevotedtothepermanenceoftheconceptofZero-MomentPoint,widelyknownbytheacronymZMP.Thirty-fiveyearshaveelapsedsinceitsimplicitpresentation(actuallybeforebeingnamedZMP)tothescientificcommunityandthirty-threeyearssinceitwasexplicitlyintroducedandclearlyelaborated,initia
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