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《Journal of Shanghai Jiaotong University》 2001-01
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Exploration on Faultiness of Zero Moment Point (ZMP) Stable Region for Biped Locomotion

BAO Zhi jun, MA Pei sun, WANG Chun yu, WANG Jian bin, JIANG Shan (School of Mechanical Eng., Shanghai Jiaotong Univ., Shanghai 200030, China)  
The ZMP(zero moment point) is not enough to depict the stability for biped robot as it is just an essential factor for the stability neglecting the balance of ankle torque. Concerning about the ankle torque, the expression of friction circle factor was deduced. It is concluded that the stable region meeting ZMP and friction circle is the sufficient and necessary condition for the stability of biped robot.
【CateGory Index】: TP24
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