Physics, mathematics, and technology

2013 Issue №10

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The method of zero-moment point for the problem of dynamic stabilization AR-600. Moving AR-600 at the site



The Method of Zero-moment point is considered. The basic formula to help you find point ZMP are development. A variant of applying this method is considered. The sequence of commands for task biped robotic system are described. A variant of the introduction drivers in Robot Operating System are considered.


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2. Dekker M. H. P. Zero-moment point method for stable biped walking. Eindhoven, July 2009, DCT no.: 2009.072.