The zero moment point zmp and centroidal moment pivot cmp are important ground reference points used for motion identification and control in biomechanics and legged robotics. Using a consistent mathematical notation, we define and compare the ground reference points. Biomechanics and robotics, pan standard publishing 20, and biomechatronics, elsevier 2019. This simulated biped is controlled using the virtual pivot point. The zero moment point zmp, foot rotation indicator fri and centroidal moment pivot cmp are important ground reference points used for motion. The zero moment point zmp, foot rotation indicator fri and centroidal moment pivot cmp are important ground reference points used for motion identification and control in biomechanics and legged robotics. Beginning with bioinspired locomotion concepts, the books editors. Key wordslegged locomotion, control, biomechanics, human, zero moment. Locomotion definition of locomotion by medical dictionary. Definitions, biological trajectories and control implications 91 the mean normalized distance between the cm p. Popovic, goswami, and herr ground reference points in legged locomotion 1015.
Pdf capturabilitybased analysis and control of legged locomotion. Benchmarking stability of bipedal locomotion based on. Popovic and ambarish goswami and hugh herr and hugh herr and marko popovic, title ground reference points in legged locomotion. This paper presents an optimizationbased wholebody control framework enabling compliant locomotion on thor, a 34 degree of freedom humanoid featuring forcecontrollable series elastic actuators seas. When lonnie collins motion locomotion was seven years old, his life changed forever.
Ground reference points in legged locomotion cmu school of. Now hes eleven, and his life is about to change again. Citeseerx document details isaac councill, lee giles, pradeep teregowda. Definitions, biological trajectories and control implications. The zero moment point zmp, foot rotation indicator fri and centroidal moment pivot cmp are important ground reference points used for. Honda research institute trajectories and control mountain. Optimizationbased wholebody control of a series elastic. Legged robots, push recovery, viability, capturability, capture points. In the book on the movement of animals, borelli 1680 dis cussed a. In this paper, we study these reference points for normal human walking, and discuss their applicability in legged machine control.
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