Abstract
This paper shows the details of Zero Moment Manifold control method for an under-actuated gymnastics robot. In this method, though we use a gravity compensation term at the desired posture (Off-line method), we have not aimed at a reduction of computational complexity of real-time gravity compensation (On-line method). Off-line method is used to linearize the dynamics of a gymnastics robot. Numerical simulation shows the difference of Off-line method and On-line method.
