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… (More)
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Papers overview

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2016
2016
In this paper, we address the problem of planning optimal zero moment point (ZMP) trajectories for the double support phase in… (More)
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2014
2014
Abstract—This paper addresses three issues of motion planning for zero-moment point (ZMP)-based biped robots. First, three… (More)
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2011
2011
The approximation of a humanoid robot by an inverted pendulum is one of the most frequently used models to generate a stable… (More)
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2011
2011
In this article we show that the concept of screws and wrenches gives us tools to geometrically establish the relation between… (More)
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Highly Cited
2008
Highly Cited
2008
Consider a biped evolving in the sagittal plane. The unexpected rotation of the supporting foot can be avoided by controlling the… (More)
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2006
2006
In this paper, we propose zero moment point (ZMP) manipulability ellipsoid as an extension to the existing ZMP balance criterion… (More)
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Highly Cited
2004
Highly Cited
2004
In the area of biped robot research, much progress has been made in the past few years. However, some difficulties remain to be… (More)
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Highly Cited
2004
Highly Cited
2004
 
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Review
2003
Review
2003
We introduce a new method of a biped walking pattern generation b y using a preview control of the zeromoment point ( Z M… (More)
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Highly Cited
1999
Highly Cited
1999
The focus of this paper is the problem of foot rotation in biped robots during the single-support phase. Foot rotation is an… (More)
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