ZMP: A REVIEW OF SOME BASIC MISUNDERSTANDINGS

One of basic characteristics of the regular bipedal walk of humanoid robots is the maintenance of their dynamic balance during the walk, whereby a decisive role is played by the unpowered degrees of freedom arising at the foot–ground contact. Hence, the role of the Zero-Moment Point (ZMP) as an indicator of dynamic balance is indispensable. This paper gives a detailed discussion of some basic theoretical assumptions related to the ZMP in the light of imprecise, and even incorrect, interpretations that have recently appeared, and which have led to some erroneous conclusions. Examples are given to show some erroneous basic attitudes and the genesis of some of them is indicated. It is also pointed out that in the domain of bipedal walk there are still notions that are not clearly defined and their meanings differentiated in some related branches of science and engineering. One of the examples is dynamic balance and stability, which are often used interchangeably.