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

    13 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 publicationIEEE-RAS International Conference on Humanoid Robots
    Pages371-376
    Number of pages6
    DOIs
    Publication statusPublished - 2011
    Event2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011 - Bled
    Duration: 2011 Oct 262011 Oct 28

    Other

    Other2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011
    CityBled
    Period11/10/2611/10/28

    Fingerprint

    Robots
    Trajectories
    Real time control
    Large scale systems
    Torque
    Sensors

    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

    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 IEEE-RAS International Conference on Humanoid Robots (pp. 371-376). [6100864] https://doi.org/10.1109/Humanoids.2011.6100864

    A method for the calculation of the effective Center of Mass of humanoid robots. / Muscolo, Giovanni Gerardo; Recchiuto, Carmine Tommaso; Laschi, Cecilia; Dario, Paolo; Hashimoto, Kenji; Takanishi, Atsuo.

    IEEE-RAS International Conference on Humanoid Robots. 2011. p. 371-376 6100864.

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

    Muscolo, GG, Recchiuto, CT, Laschi, C, Dario, P, Hashimoto, K & Takanishi, A 2011, A method for the calculation of the effective Center of Mass of humanoid robots. in IEEE-RAS International Conference on Humanoid Robots., 6100864, pp. 371-376, 2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011, Bled, 11/10/26. https://doi.org/10.1109/Humanoids.2011.6100864
    Muscolo GG, Recchiuto CT, Laschi C, Dario P, Hashimoto K, Takanishi A. A method for the calculation of the effective Center of Mass of humanoid robots. In IEEE-RAS International Conference on Humanoid Robots. 2011. p. 371-376. 6100864 https://doi.org/10.1109/Humanoids.2011.6100864
    Muscolo, Giovanni Gerardo ; Recchiuto, Carmine Tommaso ; Laschi, Cecilia ; Dario, Paolo ; Hashimoto, Kenji ; Takanishi, Atsuo. / A method for the calculation of the effective Center of Mass of humanoid robots. IEEE-RAS International Conference on Humanoid Robots. 2011. pp. 371-376
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    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.",
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    AU - Hashimoto, Kenji

    AU - Takanishi, Atsuo

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