A biped walking robot having a ZMP measurement system using universal force-moment sensors

Concerns the use of the zero moment point (ZMP) as a criterion in order to distinguish the stability of walking for a biped walking robot. If the ZMP during walking can be measured, it is possible for a biped walking robot to realize stabler walking by a control method that makes use of the measured ZMP. A method of measuring the ZMP throughout the whole walking phase is proposed, and a newly developed biped walking robot that has a ZMP measurement system using two universal force-moment sensors is explained. The accuracy of the ZMP measurement system is experimentally confirmed, and the ZMP throughout the whole walking phase is measured