Balance of Mobile Robots: the zero moment point


To determine balance of mobile robots, the zero moment point method is a well known method to do this. Below are links to a tutorial which shows how to compute the zero moment point for a mobile robot with the use of Matlab. To be able to use this tutorial, make sure to download the ZMP toolbox functions .zip file and place these functions somewhere in your Matlab path. Theory behind the zero moment point method to determine robot balance can be found in the .pdf document, and the references in it.

Zero moment point theory:



The ZMP toolbox funcions:



The complete tutorial and all related files can be downloaded here:


Tutorial web pages:
Zero Moment Point tutorial page 1
Zero Moment Point tutorial page 2
Zero Moment Point tutorial page 3
Zero Moment Point tutorial page 4
Zero Moment Point tutorial page 5