Geometric interpretation of the Zero-Moment Point

摘要：

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.

作者: Gijs van Oort Stefano Stramigioli

作者单位: Department of Electrical Engineering,Faculty of Electrical Engineering,Mathematics and Computer Science,University of Twente,7500 AE Enschede,The Netherlands

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 575-580

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）