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Biped walking robot control method and biped walking robot control system
Biped walking robot control method and biped walking robot control system
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机译:两足步行机器人控制方法和两足步行机器人控制系统
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摘要
A biped walking robot control method is for master-slave control of walking of a biped walking robot. The biped walking robot control method includes a weight detection step of detecting weights applied to a ground respectively by a right leg and a left leg of an operator, a target ZMP calculation step of calculating a target ZMP when the biped walking robot produces weights having a ratio of the detected right leg weight and left leg weight, and a control step of controlling the biped walking robot in accordance with the calculated target ZMP.
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