Control of Ground Interaction at the Zero-Moment Point for Dynamic Control of Humanoid Robots

Abstract

In order for stable control of humanoid robots, ground contact forces should be properly controlled for compensating the dynamic disturbances caused by unactuated body movement. The stability in the sense of the zero-moment point (ZMP), guaranteeing secure contacts during control, is a necessary condition for stable motion control. Therefore, we propose a… (More)
DOI: 10.1109/ROBOT.2005.1570362

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@article{Park2005ControlOG, title={Control of Ground Interaction at the Zero-Moment Point for Dynamic Control of Humanoid Robots}, author={Jonghoon Park and Youngil Youm and Wan Kyun Chung}, journal={Proceedings of the 2005 IEEE International Conference on Robotics and Automation}, year={2005}, pages={1724-1729} }