Estimation of Zero Moment Point using Centre of Gravity based Method

Pranav Kuber, Sahil Kolhe, Pawan Kulkarni, Prajyot Kulkarni
2016 International Journal of Engineering Research and  
Centre of gravity and Zero Moment Point are necessary for the balancing of a biped system. Forward Kinematics has been used for the estimation of co-ordinates of the end points and C.G of links. The location of the centre of gravity of each of the link can be estimated by using geometric method derived in the paper. The reference frames can be translated using matrix transformations to find out all coordinates from one base reference frame. The co-ordinates of the CG can be further used to find
more » ... urther used to find out the location of the ZMP by simple mathematical calculation. Creating a program, ZMP point location at every position of the leg in the specified walking gait pattern can be easily obtained.
doi:10.17577/ijertv5is100112 fatcat:xqsclryxm5ca3mt3klimn5trya