The DOI matches its Crossref record; 3 of the 3 references it cites were found in a registry or an index.
Forces Acting on a Biped Robot. Center of Pressure—Zero Moment Point
Abstract
In the area of biped robot research, much progress has been made in the past few years. However, some difficulties remain to be dealt with, particularly about the implementation of fast and dynamic walking gaits, in other words anthropomorphic gaits, especially on uneven terrain. In this perspective, both concepts of center of pressure (CoP) and zero moment point (ZMP) are obviously useful. In this paper, the two concepts are strictly defined, the CoP with respect to ground-feet contact forces, the ZMP with respect to gravity plus inertia forces. Then, the coincidence of CoP and ZMP is proven, and related control aspects are examined. Finally, a virtual CoP-ZMP is defined, allowing us to extend the concept when walking on uneven terrain. This paper is a theoretical study. Experimental results are presented in a companion paper, analyzing the evolution of the ground contact forces obtained from a human walker wearing robot feet as shoes.
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Cites
The development of Honda humanoid robot
Hirai, K., Hirose, M., Haikawa, Y., & Takenaka, T. (2002) · Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) · doi:10.1109/robot.1998.677288 · Cited by 1,922
Contribution to the Synthesis of Biped Gait
Vukobratovic, M., & Juricic, D. (1969) · IEEE Transactions on Biomedical Engineering · doi:10.1109/tbme.1969.4502596 · Cited by 609
Postural Stability of Biped Robots and the Foot-Rotation Indicator (FRI) Point
Goswami, A. (1999) · The International Journal of Robotics Research · doi:10.1177/02783649922066376 · Cited by 576
Cited by
The evolution of robotics research
Garcia, E., Jimenez, M. A., De Santos, P. G., & Armada, M. (2007) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2007.339608 · Cited by 371
Dynamic Locomotion Through Online Nonlinear Motion Optimization for Quadrupedal Robots
Bellicoso, C. D., Jenelten, F., Gehring, C., & Hutter, M. (2018) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2018.2794620 · Cited by 206
Dynamic Locomotion on Slippery Ground
Jenelten, F., Hwangbo, J., Tresoldi, F., Bellicoso, C. D., & Hutter, M. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2931284 · Cited by 84
Metadata
- Authors
- Sardain, P., & Bessonnet, G.
- Venue
- IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans
- Published
- 2004-09
- Volume
- 34
- Issue
- 5
- Pages
- 630-637
- ISSN
- 1083-4427 (ISSN-L)
- OpenAlex
- W2127763473
- Cited by
- 488
- References
- 3
- FWCI
- 8.07
- Type
- journal article
- Language
- en
- Open access
- closed
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