Geometric interpretation of the Zero-Moment Point


Share/Save/Bookmark

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.

[img]
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:
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

 

Repository Staff Only: item control page

Metis ID: 277560