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Zero moment point

Known as: ZMP 
Zero moment point is a concept related with dynamics and control of legged locomotion, e.g., for humanoid robots. It specifies the point with respect… 
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Related topics

Related topics

6 relations
Humanoid robotInverted pendulumMiomir VukobratovićPackBot

Broader (1)

Robot control

Papers overview

Semantic Scholar uses AI to extract papers important to this topic.
Highly Cited
2012
Highly Cited
2012
From stable walking to steering of a 3D bipedal robot with passive point feet
SUMMARY This paper exploits a natural symmetry present in a 3D robot in order to achieve asymptotically stable steering. The… 
2011
2011
Gait pattern generation and stabilization for humanoid robot based on coupled oscillators
To achieve a balanced walking for a humanoid, it is necessary to estimate the dynamic stability of the system. However, in a… 
Review
2011
Review
2011
Simultaneous planning of CoM and ZMP based on the preview control method for online walking control
The present paper describes a newly proposed method of planning the CoM trajectory that realizes the desired ZMP. We introduce… 
Highly Cited
2009
Highly Cited
2009
Toward human-like walking pattern generator
In this paper, we generate the biped gait of a humanoid robot that looks like a human's one. To generate the human like motion… 
2009
2009
Adaptive backstepping control for a two-wheeled autonomous robot
In this paper, we deal with the backstepping control design of the two-wheeled inverted-pendulum-type autonomous robot, the e… 
Highly Cited
2007
Highly Cited
2007
Dynamic balance control of humanoids for multiple grasps and non coplanar frictional contacts
Human beings perform complex tasks while even keeping balance. Though this is evident for a human, it is very difficult to adapt… 
2006
2006
Zero moment point manipulability ellipsoid
In this paper, we propose zero moment point (ZMP) manipulability ellipsoid as an extension to the existing ZMP balance criterion… 
Highly Cited
2004
Highly Cited
2004
On the stability of indirect ZMP controller for biped robot systems
This paper proposes the indirect zero momentum position (ZMP) controller for biped robot systems and proves its disturbance input… 
2004
2004
A running experiment of humanoid biped
Aiming for a humanoid robot of the next generation, we have been developing a biped which can jump and run. This paper introduces… 
Highly Cited
2002
Highly Cited
2002
A control of biped robot which applies inverted pendulum mode with virtual supporting point
We applied the inverted pendulum mode to the control of a biped robot in order to plan a trajectory in real time. Though the… 
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