零力矩点控制.pdfVIP

International Journal of Humanoid Robotics Vol. 1, No. 1 (2004) 157–173 c World Scientific Publishing Company ZERO-MOMENT POINT — THIRTY FIVE YEARS OF ITS LIFE ´ MIOMIR VUKOBRATOVIC Institute Mihajlo Pupin,Volgina 15 11000-Belgrade, Serbia and Montenegro vuk@robot.imp.bg.ac.yu BRANISLAV BOROVAC University of Novi Sad, Faculty of Technical Sciences 21000-Novi Sad, Trg D, Obradovica 6, Serbia and Montenegro borovac@uns.ns.ac.yu Received 24 October 2003 Accepted 8 January 2004 This paper is devoted to the permanence of the concept of Zero-Moment Point, widely- known by the acronym ZMP. Thirty-five years have elapsed since its implicit presentation (actually before being named ZMP) to the scientific community and thirty-three years since it was explicitly introduced and clearly elaborated, initially in the leading journals published in English. Its first practical demonstration took place in Japan in 1984, at Waseda University, Laboratory of Ichiro Kato, in the first dynamically balanced robot WL-10RD of the robotic family WABOT. The paper gives an in-depth discussion of source results concerning ZMP, paying particular attention to some delicate issues that may lead to confusion if this method is applied in a mechanistic manner onto irregular cases of artificial gait, i.e. in the case of loss of dynamic balance of a humanoid robot. After a short survey of the history of the