TY - GEN
T1 - A method for the calculation of the effective Center of Mass of humanoid robots
AU - Muscolo, Giovanni Gerardo
AU - Recchiuto, Carmine Tommaso
AU - Laschi, Cecilia
AU - Dario, Paolo
AU - Hashimoto, Kenji
AU - Takanishi, Atsuo
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
KW - Biped walking robot
KW - Center of Mass
KW - Dynamic Balance
KW - Humanoid robot
KW - Posture Control
KW - Zero Moment Point
UR - http://www.scopus.com/inward/record.url?scp=84856356582&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84856356582&partnerID=8YFLogxK
U2 - 10.1109/Humanoids.2011.6100864
DO - 10.1109/Humanoids.2011.6100864
M3 - Conference contribution
AN - SCOPUS:84856356582
SN - 9781612848679
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 371
EP - 376
BT - 2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011
T2 - 2011 11th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2011
Y2 - 26 October 2011 through 28 October 2011
ER -