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

Sébastien Cotton 1 Andrew Murray 2 Philippe Fraisse 3
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 DEMAR - Artificial movement and gait restoration
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
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.
Keywords : Humanoid Robot
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Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00355530
Contributor : Philippe Fraisse <>
Submitted on : Friday, January 23, 2009 - 9:21:59 AM
Last modification on : Wednesday, August 21, 2019 - 12:14:03 PM
Long-term archiving on: Tuesday, June 8, 2010 - 9:12:30 PM

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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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