Forces acting on a biped robot. Center of pressure-zero moment point

By P. Sardain, G. Bessonnet. IEEE transactions on systems, man and cybernetics. Part A. Systems and humans, 2004

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Ground Reference Points in Legged Locomotion: Definitions, Biological Trajectories and Control Implications (2005, methodology): “The flat surface approach was first proposed by Takanishi et al. (1990) and later used by Sardain and Bessonnet (2004) .”
Dynamic Locomotion on Slippery Ground (2019, methodology): “Reference trajectories are generated using a Zero-Moment Point (ZMP) [13] based approach and tracked through a hier- archical whole-body controller (WBC) [14].”
Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots (2017, background): “such a contact event is not trivial, as it depends on the amount of frictional force the foot exerts on the terrain [2].”
Dynamic Locomotion Through Online Nonlinear Motion Optimization for Quadrupedal Robots (2018, background): “3) Inequality constraints: As shown in [17], the ZMP position pZM P w.”