Zero-Moment Point - Thirty Five Years of its Life
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Summary
The paper gives an in-depth discussion of source results concerning ZMP, paying particular attention to some delicate issues that may lead to confusion if this method is applied in a mechanistic manner onto irregular cases of artificial gait, i.e. in the case of loss of dynamic balance of a humanoid robot.
- Type
- article
- Published
- 2004-03-01
- Cited by
- 2,286
- References
- 13
- OpenAlex
- https://openalex.org/W2037729465
- Semantic Scholar
- https://api.semanticscholar.org/CorpusID:36579412
Keywords
Zero moment point, Computer science, Moment (physics), Polygon (computer graphics), Confusion
References
- Development of a bipedal humanoid robot-control method of whole body cooperative dynamic biped walking
- Biped robot locomotion in scenes with unknown obstacles
- Contribution to the synthesis of biped gait.
- How to Control Artificial Anthropomorphic Systems
- On the stability of anthropomorphic systems
- Mechanics of turin parallel robot
- Mathematical models of general anthropomorphic systems
- Natural motion generation of biped locomotion robot using hierarchical trajectory generation method consisting of GA, EP layers
- The development of Honda humanoid robot
- Foot rotation indicator (FRI) point: a new gait planning tool to evaluate postural stability of biped robots
- Mobile manipulation of humanoids-real-time control based on manipulability and stability
- Making feasible walking motion of humanoid robots from human motion capture data
Cited by
- Humanoid Robot Soccer Locomotionand Kick Dynamics: Open Loop Walking, Kicking and Morphing into SpecialMotions on the Nao Robot
- Optimization-based dynamic prediction of 3D human running
- Feedback Control of a Bipedal Walker and Runner with Compliance
- Walking Planning and Control for a Biped Robot Upstairs
- Statically vs dynamically balanced gait: Analysis of a robotic exoskeleton compared with a human
- Human inspired humanoid robots control architecture
- Step-over behavior for Limit Cycle Walkers
- Constraint-based Ground contact handling in Humanoid Robotics Simulation
- De la modélisation prédictive du comportement pathologique à l'application dans l'interaction Robot-Patient
- Intelligent Walking of Humanoid Robot for Stable Walking on a Decent
- A biologically inspired quadruped: an educational platform to study walking machines
- A study of alternative formulations for optimization of structural and mechanical systems subjected to static and dynamic loads
- Step Location Control to Overstep Obstacles for Running Robots
- A study of optimization-based predictive dynamics method for digital human modeling
- On the dynamics of human locomotion and co-design of lower limb assistive devices
- Playing Soccer with Humanoid Robots
- Modeling and optimal trajectory planning of a biped robot using newton-euler formulation
- Analysis, control and design of walking robots
- Postural Equilibrium Criteria Concerning Feet Properties for Biped Robots
- Exploring Transition Trajectory from Quadrupedal Stance Using ZMP Based Bang- Bang Control and Quadratic Programming
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