This paper is devoted to the permanence of the concept of Zero-Moment Point, widelyknown
by the acronym ZMP. Thirty-five years have elapsed since its implicit presentation
(actually before being named ZMP) to the scientific community and thirty-three years
since it was explicitly introduced and clearly elaborated, initially in the leading journals
published in English. Its first practical demonstration took place in Japan in 1984, at
Waseda University, Laboratory of Ichiro Kato, in the first dynamically balanced robot
WL-10RD of the robotic family WABOT. The paper gives an in-depth discussion of
source results concerning ZMP, paying particular attention to some delicate issues that
may lead to confusion if this method is applied in a mechanistic manner onto irregular
cases of artificial gait, i.e. in the case of loss of dynamic balance of a humanoid robot.
After a short survey of the history of the origin of ZMP a very detailed elaboration of
ZMP notion is given, with a special review concerning “boundary cases” when the ZMP
is close to the edge of the support polygon and “fictious cases” when the ZMP should
be outside the support polygon. In addition, the difference between ZMP and the center
of pressure is pointed out. Finally, some unresolved or insufficiently treated phenomena
that may yield a significant improvement in robot performance are considered.
By Tom Wong(黄东运)前不久, 在微信群里面看到有人说自己有一个由若干研究生组成的人工智能团队, 只要投资人出钱, 就可以实现任何老板想要的东西包括梦想。我不禁哑言。 什么是人工智能? 原子弹爆炸是人工智能吗?卫星在天上飞是人工智能吗? 我认为都不是, 原子弹爆炸是人类利用放射性元素的某个或某些物理特性而已。卫星上天也不过是人类利用无线电遥控技术<em>控制</em>一个物体沿地球作旋转运动。美国一个女...