Talk:Zero Moment Point

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	Zero Moment Point is within the scope of WikiProject Robotics, an attempt to standardise coverage of Robotics. If you would like to participate, you can edit the article attached to this notice, or visit the project page, where you can join the project or contribute to the discussion.
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Moment is acrodingly F x XG - H ... simplified to me to see that the moment ist there where the actual contact point is and the forces lead you to it