| http://www.w3.org/ns/prov#value | - A very important control concept in the field of bipedal robotics is the concept of, so-called, ???Zero Moment Point??? or shortly ZMP. This is a point at the foot/ground contact area where, for a dynamically stable walk, the sum of all moments about any axis laying in the tangential plane of the contact equals zero, including moments due to external forces and due to inertial forces acting on the
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