A dancer who has to dance on the point of her shoes or turn around on one foot must be trained for a long period of time before she can sense her own center and balance herself 舞蹈演员（有时）需要以脚尖跳舞或单脚旋转，为了能找到自己的中心点并做到平衡，此前她必须接受长期的训练。
For this technique , balance is essential and the instructor should now demonstrate how to keep on balance when swift movement is necessary in kicking while standing on one foot 对于这种技术来说，平衡是至关重要的，教练现在应该演示在踢击时单脚着地，并且需要快速移动时，如何保持平衡。
The walking stability has direct relation to the gait of the robot , and whether the gait is nicer is vital to the stability . by researching of the walking habit of human being , we proceed the gait planning of biped walking robot , decide the single foot supporting and double feet supporting , and bring forward the principle of phase divided and divide a gait cycle into eight sub - phases . that guarantees the continuity , stability of the whole walking 而步行稳定性与机器人的步态有着直接的关系，良好的步态对步行机器人的稳定性来说又是至关重要的，通过对人类步行习惯的研究，对两足步行机器人进行步态规划，确定了步行机器人的单脚及双脚支撑周期，提出了分相的原则，并将一个步态周期分为八个子步相，保证了运动过程的连续、平稳，并利用zmp理论对步行机器人稳定性进行计算，给出静态稳定步行的条件。
Based on variable zmp and dynamics of 3 - d inverted pendulum , we educed the cog ( center of gravity ) ’ s trajectory equation of the robot in the single - support phase and transition of locomotion phase . and we used third - order spline function to ensure the acceleration continuity of the robot ’ s cog in the double - support phase . thereby , the smooth trajectory of cog was gained by planning 由基于可变zmp和三维倒立摆的动力学原理,推导出了单脚支撑期内和步行方式转换期间机器人的质心运动轨迹方程;并采用三次样条曲线来保证机器人在双脚支撑期质心加速度的连续性,从而由规划得到了光滑的质心运动轨迹。
