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.
|Publisher||IEEE Robotics and Automation Society|
|Conference||2011 IEEE International Conference on Robotics and Automation, ICRA 2011|
|Period||9/05/11 → 13/05/11|
- EC Grant Agreement nr.: FP7/231554