钱敏, 吴仲城, 申飞, 戈瑜. 基于测力平台阵列的双足步行机器人实际零力矩点检测[J]. 机器人, 2004, 26(3): 259-262..
QIAN Min, WU Zhong-cheng, SHEN Fei, GE Yu. The Study of Actual ZMP Measurement for a Biped Walking Robot Based on Force Plates Array System. ROBOT, 2004, 26(3): 259-262..
Abstract:In this paper, a multi-dimensional force plate array is presented and the ground reaction forces are examined. The ZMP trajectory of human subject is precisely calculated based on the Vukobratovic's ZMP definition and is a significant reference for the stability control of humanoid robot. Furthermore, the system can be used to measure the actual ZMP trajectory of a biped walking robot.
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