Making feasible walking motion of humanoid robots from human motion capture data

Estimation of Ground Reaction Force and Zero Moment Point on a Powered Ankle-Foot Prosthesis

“…The resulting moment of force exerted from the ground on the body about the ZMP is always around the vertical axis (parallel to the gravity vector). At the ZMP is a reference point at the ground in which the net moment due to inertial and gravitational forces has no component along the (horizontal) axes (parallel to the ground) (Hirai et al, 1998;Dasgupta and Nakamura, 1999;Vukobratovic and Borovac 2004;Tak, 2000).…”

The Mechanism of Yaw Torque Compensation in the Human and Motion Design for Humanoid Robots

“…The early bipedal walking robots could only achieve static walking because they kept their projected point of Centre of Gravity (CoG) on the ground in their supporting polygon region. When the concept of Zero Moment Point (ZMP) was proposed, researchers began to propose methods of walking pattern synthesis based on ZMP [1][2][3][4][5][6][7], which can speed up the walking through controlling the position of ZMP instead of CoG. Many researchers have devised various approaches for walking humanoid robots [8][9].…”

Design of a Neural Controller for Walking of a 5-Link Planar Biped Robot via Optimization

“…The ZMP is defined as the point on the ground where the net moment generated from ground reaction forces has zero moment about two axes that lie in the plane of ground. Takanishi [5], Shin [6], Hirai [7] and Dasgupta [8] have proposed methods of walking patterns synthesis based on ZMP. In this kind of stability, as long as the ZMP lies strictly inside the support polygon of the foot, then the desired trajectories are dynamically feasible.…”