Study of ZMP Measurement for Bipedrobot Using FSR Sensor

This paper discuss a method measuring ZMP for biped robot. We obtained feet-bottom pressure distribution using FSR sensors attaching feet-bottom. We calculate value of ZMP coordinates that is the center of gravity for biped robot using their pressure distribution. Value of Biped Robot ZMP coordinates always exists in feet-bottom. When walking limbs of biped robot are controlled, inverse kinematics use method supposed by author. We introduce it in this paper.