Article

ZiMPedance: Impedance-Aware ZMP Modeling and Control for Quadruped Robots Carrying Payloads

This paper proposes a ZMP modeling method for quadruped robots carrying payloads via a passive arm, relating the stiffness, damping, and payload mass of the passive interface to the ZMP response, and notes that lightly damped passive modes may overlap with gait harmonics.

Part of the event: ZMP Modeling and ARMPC Control for Payload on a Quadruped Robot's Passive Arm

This page provides a summary and source link only.