Zero moment point is a concept related with dynamics and control of legged locomotion, e.g., for humanoid robots. It specifies the point with respect to which dynamic reaction force at the contact of the foot with the ground does not produce any moment in the horizontal direction, i.e. the point where total of vertical inertia and gravity forces equals 0 (zero). The concept assumes the contact area is planar and has sufficiently high friction to keep the feet from sliding.
Read more about Zero Moment Point: Introduction, ZMP Computation
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