Geometric interpretation of the Zero-Moment Point

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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.
    Original languageUndefined
    Title of host publicationProceedings of the IEEE International Conference on Robotics and Automation, ICRA 2011
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages575-580
    Number of pages6
    ISBN (Print)978-1-61284-385-8
    DOIs
    Publication statusPublished - May 2011
    Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
    Duration: 9 May 201113 May 2011

    Publication series

    Name
    PublisherIEEE Robotics and Automation Society

    Conference

    Conference2011 IEEE International Conference on Robotics and Automation, ICRA 2011
    Abbreviated titleICRA
    CountryChina
    CityShanghai
    Period9/05/1113/05/11

    Keywords

    • EWI-19688
    • EC Grant Agreement nr.: FP7/231554
    • IR-76082
    • METIS-277560

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