零力矩点控制.pdf
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April 10, 2004 22:17 WSPC/191-IJHR 00008
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
******@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
******@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 too
April 10, 2004 22:17 WSPC/191-IJHR 00008
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
******@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
******@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 too
零力矩点控制
