基于matlab的双足机器人零动力学控制及其仿真，包括动力学及控制模块-Matlab biped robot based on the zero-dynamics control and simulation, including the dynamics and control module

在matlab与SystemGenerator的平台下实现零阶时延数字正切锁相环。此模块最终能达到与输入信号同频率。-In the matlab, and SystemGenerator the platform, zero-order delay tangent digital phase-locked loop. This module is ultimately to reach input signal with the same frequency.

In mathematics, the greatest common divisor (gcd), also known as the greatest common factor (gcf), or highest common factor (hcf), of two or more integers(at least one of which is not zero), is the largest positive integer that divides the numbers wi