function COP = RobCOP( M_01,GRF,m0,CM0x,CM0y,l0,go )

%-- Compute the CENTRE OF PRESSURE (COP=ZMP) ------------------------------ 
 COP(1,1) = ( -M_01(2)+m0*go*CM0x-l0*GRF(1) )/GRF(3);
 COP(2,1) = (  M_01(1)+m0*go*CM0y-l0*GRF(2) )/GRF(3);
%-----------------------------------------------------------------------end              
end
