ZMP 实现机器人行走

ZMP实现机器人行走ThispaperisdevotedtothepermanenceoftheconceptofZero-MomentPoint,widelyknownbytheacronymZMP.Thirty-fiveyearshaveelapsedsinceitsimplicitpresentation(actuallybeforebeingnamedZMP)tothescientificcommunityandthirty-threeyearssinceitwasexplicitlyintroducedandclearlyelaborated,initia