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

    研究成果: Conference contribution

    13 引用 (Scopus)

    抄録

    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.

    元の言語English
    ホスト出版物のタイトルIEEE-RAS International Conference on Humanoid Robots
    ページ371-376
    ページ数6
    DOI
    出版物ステータスPublished - 2011
    イベント2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011 - Bled
    継続期間: 2011 10 262011 10 28

    Other

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

    Fingerprint

    Robots
    Trajectories
    Real time control
    Large scale systems
    Torque
    Sensors

    ASJC Scopus subject areas

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

    これを引用

    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. : 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.

    研究成果: Conference 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. : 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. : 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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    AU - Dario, Paolo

    AU - Hashimoto, Kenji

    AU - Takanishi, Atsuo

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