RESEARCH PAPERYear 2002
Real-time humanoid motion generation through ZMP manipulation based on inverted pendulum control
Classification
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- Foundational work
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- Prediction paradigm
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- Subcategories
- Theory & planningAction policy foundations
- Source review status
- Explicit in survey
Category review. The 2002 ZMP/COG controller is a classical analytic dynamics-to-control precursor: inverted-pendulum modeling chooses feasible balance references and a constrained Jacobian maps them to joint commands. Its role is control foundations, not a modern learned WAM. Reading evidence
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Abstract
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