Modeling humanoid robots : Zero moment point (ZMP )

Zero moment point (ZMP )
Modeling humanoid robots

Authors : Gabriel ABBA, Yannick AOUSTIN

Review date: September 21, 2021 | Lire en français

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6. Zero moment point (ZMP )

Let's consider a support foot on the ground (figure 5 ). Let the ankle of the support foot be defined by the point A such that :

{}^{0}O A = (\begin{array}{l} - \end{array}

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Zero moment point (ZMP )

(1) - ACARY (V.), BROGLIATO (B.) - Coefficients de restitution et efforts aux impacts. Revue et comparaison des estimations analytiques. - Rapport de Recherche 5401, INRIA (2004).
(2) - ANTOINE (J.-F.), VISA (C.), SAUVEY (C.), ABBA...

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