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Now I ask you, how do you intend to legitimise that?

现在我问你你准备怎样把它合法化？

The method combines the inverse dynamics control with the ZMP-plane acceleration projection, whereby the whole body stability of the robot can be considered simultaneously when tracking the predefined trajectories. With this method, the inapplicability existing in the classical control methods in the terms of disturbance rejection and stability maintenance is solved.4 Finally, in order to verify the proposed methods, experiment platforms for the motion planning and disturbance rejection control are constructed respectively.

提出了利用逆动力学控制和ZMP平面的加速度映射相结合的抗干扰策略，在对运动轨迹进行精确跟踪的同时保证系统整体的动态平衡性，解决了经典轨迹跟踪控制方法在抗干扰及稳定性保持等方面的不足。4为验证本文所提出方法的有效性，分别构建了非规则运动规划与抗干扰控制算法的实验平台，详细地介绍了运动生成和运动执行系统的设计与构成。