文档介绍：Zero-momentpointtrajectorymodelingofabipedwalkingrobotusinganadaptiveneuro-,S.-.-:,-momentpoint(ZMP)trajectoryintherobot’sfootisasignificantcriterionfortherobot’-espossibletocreatestablewalkingconditionsfortherobotandherealsostablycontroltherobotbyusingthemeasuredZMP,-timesituationsusingabipedwalkingrobotandthisZMPdataisthenmodelledusinganadaptiveneuro-fuzzysystem(ANFS).Naturalwalkingmotionsonflatlevelsurfacesandupanddowna10°,robothasalmostthesamemovementmechanismsasahumananditabletooperateinenvironmentscontainingstairs,,,itisdifficulttogenerateahuman--likewalkingrobotsisanareaofconsiderableactivity[1–4].Incontrasttoindustrialrobotmanipulators,-momentpoint(ZMP)[2][1–6].,,itispossiblethattherecanbealargeerrorbetweentheactualZMPvalueandthecalculatedvalue,duetodeviationsinthephysicalparametersbetweenthemathematicalmodelandthere