Glossary

Contraintes virtuelles ; Virtual constraints

These constraints, applied to humanoid robots, are programmed when the order is calculated.

Contraintes unilatérales; Unilateral constraints

This is one of the characteristics of humanoid robots. A unilateral constraint on the foot's contact with the ground means that this foot can lose contact when the humanoid robot moves.

Point de moment nul; Zero moment point

If a humanoid robot's foot is in contact with the ground, this is the point on its sole where no moment is exerted to cause it to tip over. It is assumed that friction is sufficient to prevent the foot from turning or sliding flat on the ground. If this point is outside the levitation surface, this means that the contact hypotheses have not been verified....