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

*この研究の対応する著者

研究成果: Conference contribution

15 被引用数 (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.

本文言語English
ホスト出版物のタイトル2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011
ページ371-376
ページ数6
DOI
出版ステータスPublished - 2011 12 1
イベント2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011 - Bled, Slovenia
継続期間: 2011 10 262011 10 28

出版物シリーズ

名前IEEE-RAS International Conference on Humanoid Robots
ISSN(印刷版)2164-0572
ISSN(電子版)2164-0580

Conference

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

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • ハードウェアとアーキテクチャ
  • 人間とコンピュータの相互作用
  • 電子工学および電気工学

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