ZMP based control in 3D passive dynamic walking

Within the context of the 3TU federation the 14 degrees of freedom (DOF) antropomorphic robot `Tulip' is being developed with the goal to compete in the Robosoccer tournament of 2008 held in Suzhoo, China. Tulip will be a dynamic walker able to kick, goal-keep and walk. In order to gain a deeper insight in the dynamics of the design and to design and test motion patterns and controllers, a model has been developped and presented in this report, which will serve as a starting point for further work on the robot.