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Conference Papers Year : 2008

Statically Equivalent Serial Chains for Modeling the Center of Mass of Humanoid Robots

Sébastien Cotton
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Abstract

This paper proposes a method for modeling the Center of Mass (CoM) of humanoid robots. The method is based on the Statically Equivalent Serial Chain (SESC) model, a serial chain representation of any multi-link branched chain. An algorithm is presented to automatically construct the SESC of a symmetric anthropomorphic architecture. We also show the use of SESC modeling in the projection of the CoM when the kinematic chain is not positioned on a horizontal plane. Finally, after validating these developments on the HOAP-3 experimental humanoid robot platform, we discuss the interest of this modeling in other areas of research.

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Dates and versions

lirmm-00355530 , version 1 (23-01-2009)

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  • HAL Id : lirmm-00355530 , version 1

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Sébastien Cotton, Andrew Murray, Philippe Fraisse. Statically Equivalent Serial Chains for Modeling the Center of Mass of Humanoid Robots. Humanoids, Dec 2008, Daejeon, South Korea. pp.138-144. ⟨lirmm-00355530⟩
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