A method for on-line static voltage stability margin calculation is presented. 提出了一種可在線應用的靜態電壓穩定裕度計算方法。
Gait with rith right stability margin is derived through many gaits simulation, experiments testifed the performance of the robot. 得出穩定裕度合適的步態,實驗驗證了機器人的性能。