Interactive motion deformation with prioritized constraints
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Interactive motion deformation with prioritized constraints
Graphical Models - Special issue on SCA 2004
Hopping on Even Ground and Up Stairs with a Single Articulated Leg
Journal of Intelligent and Robotic Systems
An evolved neural controller for bipedal walking with dynamic balance
Proceedings of the 11th Annual Conference Companion on Genetic and Evolutionary Computation Conference: Late Breaking Papers
A Simple Momentum Controller for Humanoid Push Recovery
Proceedings of the FIRA RoboWorld Congress 2009 on Advances in Robotics
A reactive robotized interface for lower limb rehabilitation: clinical results
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
Foot and body control of biped robots to walk on irregularly protruded uneven surfaces
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics - Special issue on human computing
Force-shoes ZMP measuring system for human walker
International Journal of Intelligent Systems Technologies and Applications
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Locomotion control of biped robots on irregularly protruded uneven surface
MIC '07 Proceedings of the 26th IASTED International Conference on Modelling, Identification, and Control
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
Active synthetic-wheel biped with torso
IEEE Transactions on Robotics
ICDHM'11 Proceedings of the Third international conference on Digital human modeling
Realtime control for motion creation of 3d avatars
PCM'05 Proceedings of the 6th Pacific-Rim conference on Advances in Multimedia Information Processing - Volume Part I
Artificial Life and Robotics
Dynamic Biped Locomotion in Structured Environment
Proceedings of Conference on Advances In Robotics
Control of a biped robot by total rate of angular momentum using the task function approach
Applied Bionics and Biomechanics
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In the area of biped robot research, much progress has been made in the past few years. However, some difficulties remain to be dealt with, particularly about the implementation of fast and dynamic walking gaits, in other words anthropomorphic gaits, especially on uneven terrain. In this perspective, both concepts of center of pressure (CoP) and zero moment point (ZMP) are obviously useful. In this paper, the two concepts are strictly defined, the CoP with respect to ground-feet contact forces, the ZMP with respect to gravity plus inertia forces. Then, the coincidence of CoP and ZMP is proven, and related control aspects are examined. Finally, a virtual CoP-ZMP is defined, allowing us to extend the concept when walking on uneven terrain. This paper is a theoretical study. Experimental results are presented in a companion paper, analyzing the evolution of the ground contact forces obtained from a human walker wearing robot feet as shoes.