零倾覆力矩点（ZMP）

双足机器人行走的稳定性是双足行走最为重要的衡量指标之一。针对传统的基于零力矩点( ZMP)步态稳定性判 据方法,分析了 ZMP、C OP的相互关系,表明在双足机器人与水平地面无粘性力和无吸附力作用下,其 ZMP即为压力中 心点 COP。基于具有足趾关节的双足机器人足底支撑面多种变化,提出对多点接触时支撑多边形区域描述。结合 ZMP/ COP、C OG的在支撑面内相对位置,提出了基于 ZMP/COP、C OG的综合稳定性判据。经仿真分析,与传统单一的 ZMP稳 定性判据相比,该综合稳定性判据能够更为准确地反

ZMP 实现机器人行走 This paper is devoted to the permanence of the concept of Zero-Moment Point, widelyknown 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 origin of ZMP a very detailed elaboration of ZMP notion is given, with a special review concerning “boundary cases” when the ZMP is close to the edge of the support polygon and “fictious cases” when the ZMP should be outside the support polygon. In addition, the difference between ZMP and the center of pressure is pointed out. Finally, some unresolved or insufficiently treated phenomena that may yield a significant improvement in robot performance are considered.