The method of zero-moment point for the problem of dynamic stabilization AR-600. Moving AR-600 at the site :: IKBFU's united scientific journal editorial office

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My faith is the belief that happiness will be given to humanity by scientific progress
Ivan P. Pavlov

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

Author Lozhkin P.
Pages 81-84
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Keywords robotic system, biped circulation, dynamic stabilization, balance, center of gravity, sensor of acceleration, AR-600, encoder, zero-moment point, ZMP, Cart-table model, Robot Operating System, ROS
Abstract (summary) 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.
References 1. Ложкин П. В., Толстель О. В. Создание программно-аппаратного комплекса, обеспечивающего динамическое равновесие и движение РТК AR-600 // Вестник Балтийского федерального университета им. И. Канта. 2013. Вып. 4. С. 110—117.
2. Dekker M. H. P. Zero-moment point method for stable biped walking. Eindhoven, July 2009, DCT no.: 2009.072.

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