Unverified50% confidenceFactExact time
ZMP方法本质上是静态或准静态的，在高速奔跑机器人频繁经历完全腾空阶段时不再适用，现代高速双足运动更多依赖SLIP和HZD等框架
1
Sources
50%
Confidence
Long-term
Relevance
8/26/2026
First Seen
Sources
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