Statically equivalent serial chains for modeling the center of mass of humanoid robots

2008 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008

Volumn , Issue , 2008, Pages 138-144

  Cotton, Sebastien ^a   Murray, Andrew ^b   Fraisse, Philippe ^a  

^a LIRMM   (France)

^b UNIVERSITY OF DAYTON   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

FLIGHT DYNAMICS; INTELLIGENT ROBOTS; KINEMATICS;

CENTER OF MASS; HORIZONTAL PLANES; HUMANOID ROBOTS; KINEMATIC CHAINS; MULTI LINKS; SERIAL CHAINS;

ROBOTICS;

EID: 63549125234     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICHR.2008.4755958     Document Type: Conference Paper

References (5)

1. B. Espiau and R. Boulic, « On the Computation and control of the mass center of articulated chains », Research Report INRIA No3479, 1998.
2. B. El Ali, « Contribution à la commande du centre de masse d'un robot bipède », Thesis, INPG, France, 1999.
3. A. Murray, S. Cotton and P. Fraisse, «Serial Chain-Like Representations for Determining Center of Mass of Complex Kinematic Chains with Applications to Humanoids », National Days of Humanoid Robotic, JNRH Montpellier, France, 2007.
4. P. Fraisse, S. Cotton, A. Murray and F. Pierrot, «Towards Dynamic Balance Control of Humanoid Robots by using CoM and ZMP», Workshop, Pittsburgh, Humanoids 2007
5. D. Winter, «Biomechanics and Motor Control of Human Movement»', Book, Wiley Edition, 2005