Zero-moment point
- In French:
- Point de moment nul (ZMP)
- Abbreviation:
- ZMP
Definition
The point on the ground, under the feet of a walking robot, where the contact forces produce no horizontal tipping moment. On flat ground it coincides with the centre of pressure, and its position directly determines the acceleration of the robot’s centre of mass. Together with footstep planning, it is a central notion in the control of humanoid robots.
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