ZMP

ZMP is an acronym used in several contexts. In robotics, ZMP most commonly refers to the Zero Moment Point, a stability concept used in the study and control of legged locomotion. The Zero Moment Point is the point on the ground where the total moment produced by inertial and gravitational forces would be zero if all contact forces acted there.

In practice, stability control aims to keep the ZMP within the robot’s support polygon, the area covered by its feet when in contact with the ground. If the ZMP moves outside this region, the robot is at risk of tipping. Controllers use the ZMP as a criterion for planning motions and balancing; they adjust joint torques, foot placement, upper-body posture, and timing to steer the ZMP and maintain stable gaits. A variety of methods are applied, including preview control, model predictive control, and reactive foot-placement strategies, all tied to estimates of the robot’s state and contact constraints.

Besides Zero Moment Point, ZMP also denotes other uses in technology and industry. Notably, ZMP Inc. is a Japanese robotics and autonomous systems company that develops hardware, software, and solutions for mobility and automation. The acronym appears in other organizational names and contexts as well, reflecting its broader adoption beyond the stability concept.

In summary, ZMP in robotics primarily describes a balance criterion for legged locomotion, guiding the design and control of stable walking and running motions, while the acronym also identifies distinct entities in the field of robotics and technology.