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The concept of ZMP was introduced. The iterative ZMP computational method combining the effective Newton-Euler Algorithm with the concept of ZMP was proposed. The method has clear physical interpretation, lower computation complexity, is easy to program and control. The ZMP model of the wheel-based humanoid robot was built using the iterative ZMP computational method. The simplified ZMP computational equation of the wheel-based humanoid robot was given. Finally the dynamic stability criterion and the stability degree of the humanoid robot were defined.