27 Humanoid Robots Zero-Moment Point — Proper Interpretation Introduction • The ZMP Notion • The Difference between ZMP and the Center of Pressure (CoP) Modeling of Biped Dynamics and Gait Synthesis Single-Support Phase • Double-Support Phase • Biped Dynamics • Example Miomir Vukobratovi´ c Mihajlo Pupin Institute Control Synthesis for Biped Gait Synthesis of Control with Limited Accelerations • Synthesis of Global Control with Respect to ZMP Position • Example Dynamic Stability Analysis of Biped Gait Modeling of Composite Subsystems • Stability Analysis • Example Branislav Borova´ c University of Novi Sad ˇ Dragoljub Surdilovi´ c Fraunhofer Institute Realization of Anthropomorphic Mechanisms and Humanoid Robots Active Exoskeletons • Humanoid Robots • Virtual Humanoid. | 27 Humanoid Robots Zero-Moment Point Proper Interpretation Introduction The ZMP Notion The Difference Miomir VukobratoviC between ZMP and the Center of Pressure CoP Modeling of Biped Dynamics and Gait Synthesis Single-Support Phase Double-Support Phase Biped Dynamics Example Control Synthesis for Biped Gait Synthesis of Control with Limited Accelerations Synthesis of Global Control with Respect to ZMP Position Example Mihajlo Pupin Institute Branislav BorovaC Dynamic Stability Analysis of Biped Gait Modeling of Composite Subsystems Stability Analysis Example University of Novi Sad Dragoljub S urdiloviC Fraunhofer Institute Dragan StokiC Realization of Anthropomorphic Mechanisms and Humanoid Robots Active Exoskeletons Humanoid Robots Virtual Humanoid Robot Platform New Application of the ZMP Concept in Human Gait Restoration ATB Institute Conclusion During the last several years significant stagnation has been observed in the development and application of industrial robots. The reason for this lies in the fact that in the last two or three decades a majority of simpler jobs in different industries and in workplaces presenting hostile environments to humans have been robotized. We are now in an era of specialized unconventional robots dedicated to complex tasks to be performed under specific and hazardous conditions. These robots are endowed with the elements of artificial intelligence. The objective is to initiate long-term multidisciplinary research with the goal of designing function-oriented devices equipped with proper onboard intelligence capable of autonomously performing common human work. It is expected that the new generation of robots will yield explosive development that will have an impact comparable to that we witnessed with the appearance of personal computers. The present service robots will be replaced by personal robots. From the scientific point of view they will represent the continuation of the earlier research on .
