{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,26]],"date-time":"2025-10-26T14:11:13Z","timestamp":1761487873508,"version":"3.33.0"},"reference-count":23,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2008,1,1]],"date-time":"2008-01-01T00:00:00Z","timestamp":1199145600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2008,1]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>A novel method of Zero-Moment-Point (ZMP) compensation is proposed to improve the stability of locomotion of a biped, which is subjected to disturbances. A compensating torque is injected into the ankle-joint of the foot of the robot to improve stability. The value of the compensating torque is computed from the reading of the force sensors located at the four corners of each foot. The effectiveness of the method is verified on a humanoid robot, MANUS-I. With the compensation technique, the robot successfully rejected disturbances in different forms. It carried an additional weight of 390 gm (17% of body weight) while walking. Also, it walked up a 10\u00b0 slope and walked down a 3\u00b0 slope.<\/jats:p>","DOI":"10.1017\/s0263574707003542","type":"journal-article","created":{"date-parts":[[2007,6,25]],"date-time":"2007-06-25T11:06:44Z","timestamp":1182769604000},"page":"9-17","source":"Crossref","is-referenced-by-count":47,"title":["Disturbance rejection by online ZMP compensation"],"prefix":"10.1017","volume":"26","author":[{"given":"Vadakkepat","family":"Prahlad","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Goswami","family":"Dip","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chia","family":"Meng-Hwee","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2008,1,1]]},"reference":[{"key":"S0263574707003542_ref15","doi-asserted-by":"crossref","unstructured":"15. 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Kajita S. , Kanehiro F. , Kaneko K. , Fujiwara K. , Harada K. and Yokoi K. , Hirukawa, \u201cBiped walking pattern generation by using preview control of zero-moment point,\u201d Proceeding of IEEE International Conference on Robotics and Automation, 2 (Sep. 14\u201319 2003) pp. 1620\u20131626.","DOI":"10.1109\/ROBOT.2003.1241826"},{"key":"S0263574707003542_ref20","doi-asserted-by":"crossref","unstructured":"20. Park J. H. and Chung H. , \u201cZMP compensation by online trajectory generation for biped robots,\u201d Proceedings of IEEE International Conference on Robotics and Automation, (Oct 10\u201315 1999) 4 pp. 960\u2013965.","DOI":"10.1109\/ICSMC.1999.812540"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574707003542","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,17]],"date-time":"2025-01-17T17:10:17Z","timestamp":1737133817000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574707003542\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2008,1]]},"references-count":23,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2008,1]]}},"alternative-id":["S0263574707003542"],"URL":"https:\/\/doi.org\/10.1017\/s0263574707003542","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2008,1]]}}}