摘要
一位新闻记者兼机器人与机器学习的新闻编辑每日新闻-机器人的研究发现被用在一份新的报告中。根据NewsRx记者在中国人民共和国南京的新闻报道，研究表明：“本文提出了一种三维（3D）双足机器人轨迹生成算法，该算法可根据环境调整重心为(CoM)，采用一种支持垂直运动和旋转的文章摘要动作模型。”新闻记者引用南京科技大学的一篇研究文章:“与传统的抽象模型不同,他提出的全质心动力学倒立摆模型充分考虑了机器人的运动和转动,与零力矩点(ZMP)不同,我们还提出了一种新的附加稳定性准则。”其次，设计了非线性模型预测控制，产生CoM轨迹、躯干旋转角度和自适应脚点来诱导不同的双足步态。
Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – Research findings on Robotics are disc ussed in a new report. According to news reporting from Nanjing, People’s Republ ic of China, by NewsRx journalists, research stated, “This paper presents a traj ectory generation algorithm for a three-dimensional (3D) biped robot that can ad just the center of mass (CoM) according to the environment. We adopt a new abstr act model that supports vertical motion and rotation.” The news correspondents obtained a quote from the research from the Nanjing Univ ersity of Science and Technology, “Differing from traditional abstract models, t he proposed full centroid dynamics inverted pendulum model fully considers the r obot’s movement and rotation. Unlike the zero moment point (ZMP), which only ens ures the feet do not flip over, we also propose a new additional stability crite rion, named zero frictional moment point (ZFMP), guaranteeing no yaw rotation wh ile walking. Next, a nonlinear model predictive control is designed to generate the CoM trajectory, torso rotational angle, and adaptive footholds to induce var ious biped gaits.”
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