Geometric interpretation of the Zero-Moment Point


Oort, Gijs van 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.

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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
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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