@inproceedings{c8387ea653564029baf53c31b191f959,
title = "Geometric interpretation of the Zero-Moment Point",
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.",
keywords = "EWI-19688, EC Grant Agreement nr.: FP7/231554, IR-76082, METIS-277560",
author = "{van Oort}, Gijs and Stefano Stramigioli",
year = "2011",
month = may,
doi = "10.1109/ICRA.2011.5980133",
language = "Undefined",
isbn = "978-1-61284-385-8",
publisher = "IEEE",
pages = "575--580",
booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2011",
address = "United States",
note = "2011 IEEE International Conference on Robotics and Automation, ICRA 2011 ; Conference date: 09-05-2011 Through 13-05-2011",
}