Methodology for Zero-moment Point Experimental Modeling in the Frequency Domain

Frequency domain methodology is applied to obtain a nominal model for the Zero-Moment Point (ZMP) stability index of a biped robot in an attempt to establish a relationship between the robot trunk trajectories and the stability margin of the contact surface of the foot (or feet) touching the support...

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Bibliographic Details

Main Author:	Caballero, Rony (author)
Other Authors:	Armada, Manuel (author), Alarcón, Pedro (author)
Format:	article
Language:	English
Published:	2006
Subjects:	Legged locomotion zero-moment point frequency domain modeling biped robot stability
Online Access:	http://ridda2.utp.ac.pa/handle/123456789/2378
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