Detecting Zero-Moment Point in Legged Robot

Abstract

The study of Zero-moment point (ZMP) in ROBOCLIMBER (quadruped walking and climbing robot) was realized and calculated in real time during statically postural and dynamically balanced gait. Force sensor with strain gages was implemented on each foot bar of the robot in order to measure the ground reaction forces used for calculate the ZMP and to realize futures force control strategies. With the statically postural the ZMP was localized in order to know the point where the reaction force of the ground acts and so to know the distance between the geometric centre and the statically ZMP. When the robot realized one gait the ZMP was analyzed in order to identify if the ZMP was inside of support polygon. With this analysis it is possible to realize stables gaits with compliance movements.