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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
2011
Highly Cited
2011
Push Recovery Control for Force-Controlled Humanoid Robots
viii 
Highly Cited
2010
Highly Cited
2010
Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness
Part1 Introduction.- Part2 Description of Lucy.- Part3Trajectory generator.- Part4 Trajectory tracking.- Part5 Compliance.- Part6… 
Highly Cited
2009
Highly Cited
2009
Asymptotically Stable Walking of a Five-Link Underactuated 3-D Bipedal Robot
This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3-D… 
Highly Cited
2009
Highly Cited
2009
Standing stabilizability and stepping maneuver in planar bipedalism based on the best COM-ZMP regulator
The goal of this paper is to answer (i) how the stabilization performance of a biped controller can be evaluated on a certain… 
Highly Cited
2007
Highly Cited
2007
Choosing Your Steps Carefully
Robot walking, while appealing for its resemblance to human motion, is not an obvious choice when both economy and versatility… 
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
2006
Highly Cited
2006
Human-like walking with knee stretched, heel-contact and toe-off motion by a humanoid robot
A humanoid robot, WABIAN-2R, capable of human-like walk with stretched knees and heel-contact and toe-off motions is proposed in… 
Highly Cited
2005
Highly Cited
2005
Development of NTU wearable exoskeleton system for assistive technologies
This paper presents a wearable lower extremity exoskeleton (LEE) developed as a platform for research works on enhancement and… 
Highly Cited
2002
Highly Cited
2002
A Fast Dynamically Equilibrated Walking Trajectory Generation Method of Humanoid Robot
This paper describes a fast dynamically equilibrated trajectory generation method for a humanoid robot. From a given input motion… 
Highly Cited
2002
Highly Cited
2002
Imitating human dance motions through motion structure analysis
This paper presents a method for importing human dance motion into humanoid robots through visual observation. The human motion… 
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