Forces Acting on a Biped Robot. COP—ZMP
2011-06-07 02:17
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此文实际上讲了COP与ZMP之间的关系
在附里面有计算公式
COP与ZMP关系：
ZMP如果落在支撑区域内恰与COP重合
ZMP处，没有翻转的力矩存在
在附里面有计算公式
COP与ZMP关系：
ZMP如果落在支撑区域内恰与COP重合
ZMP处，没有翻转的力矩存在
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