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

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/z1d8pis3doeky0m565ig38202
- Original: https://arxiv.org/abs/2606.18883

## Summary

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.