A method for the calculation of the effective Center of Mass of humanoid robots

Giovanni Gerardo Muscolo, Carmine Tommaso Recchiuto, Cecilia Laschi, Paolo Dario, Kenji Hashimoto, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Citations (Scopus)

Abstract

In this paper we present a general strategy for the calculation of the effective Center of Mass (CoM) of humanoid robots, allowing the reduction of the error between the virtual robot model and the real platform. The method is based on an algorithm that calculates the real position of the CoM of a biped humanoid robot using only 2 force/torque sensors located on the feet of the robot. By means of this algorithm, it is possible to reduce the gap between the real and the virtual posture of the robot and consequently the errors between the ZMP trajectory calculated by the offline pattern generator and the ZMP trajectory calculated by the real-time pattern generator of the humanoid robot. Thus, the influence of the real-time control in the static and dynamic balance of a humanoid platform is minimized. Experimental results using SABIAN platform are provided to validate the proposed method. The results support the applicability of the method to more complex systems.

Original languageEnglish
Title of host publication2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011
Pages371-376
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 1
Event2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011 - Bled, Slovenia
Duration: 2011 Oct 262011 Oct 28

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Conference

Conference2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011
CountrySlovenia
CityBled
Period11/10/2611/10/28

Keywords

  • Biped walking robot
  • Center of Mass
  • Dynamic Balance
  • Humanoid robot
  • Posture Control
  • Zero Moment Point

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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  • Cite this

    Muscolo, G. G., Recchiuto, C. T., Laschi, C., Dario, P., Hashimoto, K., & Takanishi, A. (2011). A method for the calculation of the effective Center of Mass of humanoid robots. In 2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011 (pp. 371-376). [6100864] (IEEE-RAS International Conference on Humanoid Robots). https://doi.org/10.1109/Humanoids.2011.6100864