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Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator

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Zero Moment Line-Universal Stability Parameter for Multi-Contact Systems in Three Dimensions.

Tilen Brecelj¹, Tadej Petrič¹

¹Department of Automatics, Biocybernetics and Robotics, Jožef Stefan Institute, Jamova Cesta 39, 1000 Ljubljana, Slovenia.

Sensors (Basel, Switzerland)

|August 12, 2022

Summary

This study redefines the zero moment point (ZMP) for enhanced robot stability analysis. New methods, the zero moment line (ZML) and ZMP angle, enable stability assessment for robots interacting with environments at any height.

Keywords:

biomechanics humanoid robotics support polygon system stability zero moment point

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Area of Science:

Robotics
Biomechanics
Control Systems

Background:

The zero moment point (ZMP) is a standard stability metric, typically defined for ground-based systems.
Existing ZMP definitions are limited for robots with floating bases or complex environmental interactions.

Purpose of the Study:

To generalize the ZMP concept for broader stability analysis.
To enable stability assessment for humanoid and floating-based robots interacting at arbitrary heights.

Main Methods:

Redefined ZMP into two forms: the zero moment line (ZML) and the ZMP angle.
ZML represents all possible ZMPs, useful when external forces are known.
ZMP angle relates ZML to the center of mass (COM) vertical, applicable when COM is known.

Main Results:

Demonstrated ZMP redefinitions' applicability to systems not solely ground-supported.
Validated the ZML method in experiments involving human subjects performing dynamic tasks (sit-to-stand, leaning backward).
Successfully investigated and discussed subject stability during force plate and motion capture measurements.

Conclusions:

The generalized ZMP provides a more versatile tool for robot stability.
The ZML and ZMP angle offer practical approaches for analyzing stability in complex robotic systems and human-robot interactions.