Zero-Moment Point - Thirty Five Years of its Life

By M. Vukobratovic, B. Borovac. Int. J. Humanoid Robotics, 2004

2,272 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/3f9b39a746e67f8f45427f738139f0ee343ebc0c

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In Biomedical Engineering

In Control and Systems Engineering

Citations in the corpus

Dynamic Locomotion Through Online Nonlinear Motion Optimization for Quadrupedal Robots (2018, methodology): “The method relied on a simplified and linearized Zero-Moment Point (ZMP, [13]) model to generate planar Center of Mass (CoM) motion plans, which were executed in an MPC-like fashion, relying on a hierarchical whole-body controller to track the reference motion.”
Interactive Control of Diverse Complex Characters with Neural Networks (2015, neutral): “For example, for biped location common approaches include state machines and use of simplified models (such as the inverted pendulum) and concepts (such as zero moment or capture points) [21, 18].”
Full-Body Compliant Human–Humanoid Interaction: Balancing in the Presence of Unknown External Forces (2007, background): “On the other hand, thezero moment point} (ZMP) is defined as a point on the ground at which total moments balance (see [ 29 ] and references therein), which is denoted as r � =[ x � ,y �”
Learning, planning, and control for quadruped locomotion over challenging terrain (2011, methodology): “We use the ZMP (Vukobratovic and Borovac 2004) as our stability criterion.”
Feedback Control of Dynamic Bipedal Robot Locomotion (2007, methodology): “Recall also that the center of pressure or CoP is a standard notion in mechanics that was renamed the zero moment point or ZMP by Vukobratovic and coworkers [233, 235].”
Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway (2018, methodology): “Because this method requires having a non-zero support polygon, it is not applicable to robots such as Cassie with line feet [31].”
Human lifting simulation using a multi-objective optimization approach (2010, background): “It is defined as the point on the ground at which the resultant tangential moments are zero [15].”
Terrain traversability analysis methods for unmanned ground vehicles: A survey (2013, background): “Zero moment point distance (Vukobratovic and Borovac, 2004): The point where the resultant of all the reaction forces is applied, i.e. the point about which the total moment of all the external forces is zero.”
Central pattern generators for locomotion control in animals and robots: A review (2008, methodology): “…the control of locomotion in robots as an alternative to methods based on finite-state machines, sinegenerators , pre-recorded reference trajectories, e.g. ZMPbased (Vukobratovic & Borovac, 2004), or heuristic control laws, e.g. Virtual Model control (Pratt, Chew, Torres , Dilworth, & Pratt, 2001).”
Combining model-based policy search with online model learning for control of physical humanoids (2016, background): “To date, a large number of effective approaches to controlling bipedal humanoid robots rely on either execution of pre-created movement trajectories, or manually designed controllers and regulation of control features [2], [5], [11], [20], [21], [24], [25].”
Learning locomotion over rough terrain using terrain templates (2009, background): “We consider static or quasi-static locomotion, in which either the Center of Gravity (COG) or the Zero Moment Point (ZMP) [6], respectively, is always maintained within the support polygon.”
Whole-body motion planning for manipulation of articulated objects (2013, background): “For the stability constraint, the zero moment point generally indicates a humanoid’s dynamic stability [24].”
Toward fast policy search for learning legged locomotion (2012, background): “of the state-action space has been at the core of most legged locomotion systems and is accomplished by smart design of either the control system [10], [25] or the mechanics [13].”