Geometric interpretation of the Zero-Moment Point

Oort van, Gijs and Stramigioli, Stefano (2011) Geometric interpretation of the Zero-Moment Point. In: IEEE International Conference on Robotics and Automation, ICRA 2011, 9-13 May 2011, Shanghai, China.

Preview

PDF
288Kb

Abstract:	In this article we show that the concept of screws and wrenches gives us tools to geometrically establish the relation between the ground reaction wrench and the Zero-Moment Point. In order to arrive at this, we show how a wrench can be decomposed into separate components. The proposed method gives a general, completely coordinate-free way to find the ZMP and contributes in improving the geometrical insight.
Item Type:	Conference or Workshop Item
Copyright:	© 2011 IEEE
Faculty:	Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:	Robotics and Mechatronics (CE)
Link to this item:	http://purl.utwente.nl/publications/76082
Official URL:	http://dx.doi.org/10.1109/ICRA.2011.5980133
Conference URL:	http://www.icra2011.org/
Export this item as:	BibTeX EndNote HTML Citation Reference Manager

Show download statistics for this publication

Repository Staff Only: item control page

Metis ID: 277560