The strategy utilizes with ZMP error and its change, compensates the motion control commands of pitch and roll DOFs of support ankle joint online.
该策略根据ZMP误差及其误差变化，实时补偿支撑踝关节自由度的运动角度。
The strategy utilizes with ZMP error and its change, compensates the motion control commands of pitch and roll DOFs of support ankle joint online.
该策略根据ZMP误差及其误差变化，实时补偿支撑踝关节自由度的运动角度。
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