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

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.