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Figure 2


Fig. 2. Centroidal moment pivot (CMP). The CMP is the point where the ground reaction force would have to act to keep the horizontal component of the whole-body angular momentum constant. When the moment about the center of mass (CM) is zero (B), the CMP coincides with the center of pressure (CP). However, when the CM moment is non-zero (A), the extent of separation between the CMP and CP is equal to the magnitude of the horizontal component of moment about the CM, divided by the normal component of the ground reaction force.