{"paper":{"title":"ZiMPedance: Impedance-Aware ZMP Modeling and Control for Payload Carrying with Quadruped Robots","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Claudio Semini, Giovanni B. Dessy, Lorenzo Amatucci, Victor Barasuol","submitted_at":"2026-06-17T10:00:19Z","abstract_excerpt":"Load transportation with quadruped robots is strongly affected by the dynamics of the physical interface between the robot and the load. Passive spring-based arms reduce weight and complexity compared to active manipulators, but their spring-damper dynamics can introduce oscillatory forces that degrade locomotion stability. This paper derives an extended Zero Moment Point (ZMP) formulation that includes passive payload-interface dynamics, relating stiffness, damping, and payload mass to the stability margin. The analysis shows that underdamped configurations can resonate with locomotion harmon"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.18883","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2606.18883/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}