The approximation of a humanoid robot by an inverted pendulum is one of the most frequently used models to generate a stable walking pattern using a planned zero moment point (ZMP) trajectory. However, on account of the difference between the multibody model of the humanoid robot and the simple inverted pendulum model, the ZMP error might be bigger than the polygon of support and the robot fall...

This paper is devoted to the permanence of the concept of Zero-Moment Point, widelyknown by the acronym ZMP. Thirty-five years have elapsed since its implicit presentation (actually before being named ZMP) to the scientific community and thirty-three years since it was explicitly introduced and clearly elaborated, initially in the leading journals published in English. Its first practical demon...

Thtiswork presents n,stmly of the human / h,ummwid lixmmotion. system. ond a method for odoptotion of the Human Motion Capture Data (HMCD) for drivinfi o humanoid robot. The anmlysis uses the preciously defined concept of th,e Zero Moment Point (ZMP) wh,id prwides (Lbasis for the u,do.ptation, of the HMCD. An u,ppropri~, model of the robot foot, an ogreem,en,t with, the HMCD, is proposed. This ...

Humanoids require interaction with their environment through careful placement and utilisation of its contacts to realise a desired motion. In most cases however, contact placement is constrained and there subsequently exists many motions which are not realisable. When contacts are restricted to a horizontal ground plane, a Zero Moment Point (ZMP) analysis is sufficient for determining the real...

The bipedal structure is suitable for a robot functioning in the human environment, and assuming assistive roles. However, the bipedal walk is a poses a difficult control problem. Walking on even floor is not satisfactory for the applicability of a humanoid robot. This paper presents a study on bipedal walk on inclined planes. A Zero Moment Point (ZMP) based reference generation technique is em...

In this paper, researches and advances in biped locomotion are reviewed. A detailed survey is presented describing the various research problems and the approaches reported in the literature to analyze and control biped locomotion. A method of Zero-Moment-Point (ZMP) compensation is discussed to improve the stability of locomotion of a biped which is subjected to disturbances. A compensating to...

One of the major tasks of playing soccer is kicking the ball. Executing such complex motions is often solved by interpolating keyframes of the entire motion or by using predefined trajectories of the limbs of the soccer robot. In this paper we present a method to generate the trajectory of the kick foot online and to move the rest of the robot’s body such that it is dynamically balanced. To est...

In this paper, we present the probably first application of the popular Dynamic Movement Primitives (DMP) approach to the domain of soccer-playing humanoid robots. DMPs are known for their ability to imitate previously demonstrated motions as well as to flexibly adapt to unforeseen changes to the desired trajectory with respect to speed and direction. As demonstrated in this paper, this makes t...

This paper studies real-time gait planning for a humanoid robot. By simultaneously planning the trajectories of the COG (Center of Gravity) and the ZMP (Zero Moment Point), a fast and smooth change of gait can be realized. The change of gait is also realized by connecting the newly calculated trajectories to the current ones. While we propose two methods for connecting two trajectories, i.e. th...

There is a large body of research related to WPG (Walking Pattern Generators) for humanoid robots. Typically WPG are evaluated based on how well the robot’s actual ZMP (Zero Moment Point) tracks the desired ZMP trajectory, using a simulation of a rigid-body robot walking on a solid floor. However little has been written about how various approaches scale-up to a full-sized humanoid robot, which...