Concepedia

Zero-moment Point Control

Zero-Moment Point Control is a control framework in legged locomotion that enforces dynamic balance by regulating the net moment at the ground contact point to zero, ensuring stable bipedal gait generation through whole-body control of legged robots.

235

Publications

14.4K

Citations

544

Authors

177

Institutions

Publications per year

2017–2026

45

Variants

Zmp Control

Parents

Publications

235

Biped walking pattern generation by using preview control of zero-moment point

Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko et al. · 2004 · 2.1K citations

, , +17

ZERO-MOMENT POINT — THIRTY FIVE YEARS OF ITS LIFE

Miomir Vukobratović, Branislav Borovać · International Journal of Humanoid Robotics · 2004 · 2K citations

, , +13

Forces Acting on a Biped Robot. Center of Pressure—Zero Moment Point

P. Sardain, Guy Bessonnet · IEEE Transactions on Systems Man and Cybernetics - Part A Systems and Humans · 2004 · 461 citations

, , +16

Real-time humanoid motion generation through ZMP manipulation based on inverted pendulum control

Tomomichi Sugihara, Yoshihiko Nakamura, H. Inoue · 2003 · 461 citations

, , +17

Learning, planning, and control for quadruped locomotion over challenging terrain

Mrinal Kalakrishnan, Jonas Buchli, Peter Pástor et al. · The International Journal of Robotics Research · 2010 · 297 citations

, , +17

1–5 of 235

Authors

544

  1. QH
    Qiang Huang

    Beijing Institute of Technology, China

    12 publications · 481 citations

    11

    h-index

  2. KK
    Kenji Kaneko

    National Institute of Advanced Industrial Science and Technology, Japan

    10 publications · 2.6K citations

    10

    h-index

  3. SK
    Shuuji Kajita

    National Institute of Advanced Industrial Science and Technology, Japan

    9 publications · 2.6K citations

    9

    h-index

  4. YN
    Yoshihiko Nakamura

    The University of Tokyo, Japan

    9 publications · 976 citations

    9

    h-index

  5. FK
    Fumio Kanehiro

    National Institute of Advanced Industrial Science and Technology, Japan

    8 publications · 2.3K citations

    8

    h-index

1–5 of 544

Institutions

177

  1. The University of Tokyo

    Tokyo, Japan

    16 h-index

    49 publications

    3.4K citations

  2. National Institute of Advanced Industrial Science and Technology

    Tsukuba, Japan

    14 h-index

    65 publications

    17.5K citations

  3. Beijing Institute of Technology

    Beijing, China

    10 h-index

    54 publications

    1.7K citations

  4. Keio University

    Tokyo, Japan

    10 h-index

    30 publications

    1K citations

  5. Korea Advanced Institute of Science and Technology

    Daejeon, South Korea

    9 h-index

    25 publications

    944 citations

  6. Waseda University

    Tokyo, Japan

    8 h-index

    23 publications

    2.3K citations

  7. Sabancı Üniversitesi

    Istanbul, Türkiye

    7 h-index

    30 publications

    945 citations

  8. Centre National de la Recherche Scientifique

    Paris, France

    7 h-index

    18 publications

    1.4K citations

1–8 of 177

Venues

  1. IEEE Transactions on Industrial Electronics

    12 publications · 779 citations

    12

    h-index

  2. Robotica

    11 publications · 367 citations

    11

    h-index

  3. Journal of the Robotics Society of Japan

    8 publications · 524 citations

    8

    h-index

  4. International Journal of Humanoid Robotics

    7 publications · 2.3K citations

    7

    h-index

  5. IEEE Transactions on Robotics

    7 publications · 620 citations

    7

    h-index

1–5