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 Statically Equivalent Serial Chains for Modeling the Center of Mass of Humanoid Robots Sébastien Cotton 0d28d4ca39dce1a0f9a46a6289d8d4d7 lirmm.fr 938590 700056-938590 Andrew Murray ab27e8e4cf404280a1e21783f186b8b4 dayton.edu 857495 375500-857495 Philippe Fraisse 452b4e9a1bc5f8359b960e3c46d5f5e9 lirmm.fr philippe-fraisse 173014 13595-173014 https://orcid.org/0000-0003-0911-0743 https://www.idref.fr/050516590 Philippe Fraisse 1e5ac162e5487a50fe03c97a5314a896 umontpellier.fr 2009-01-23 09:21:59 2025-08-26 15:21:01 2009-02-04 18:00:13 2008-12-01 2009-01-23 contributor Philippe Fraisse 1e5ac162e5487a50fe03c97a5314a896 umontpellier.fr CCSD lirmm-00355530 https://hal-lirmm.ccsd.cnrs.fr/lirmm-00355530 cotton:lirmm-00355530 <i>Humanoids</i>, Dec 2008, Daejeon, South Korea. pp.138-144 Humanoids, Dec 2008, Daejeon, South Korea. pp.138-144 HAL Authorization CNRS - Centre national de la recherche scientifique INRIA - Institut National de Recherche en Informatique et en Automatique INRIA Sophia Antipolis - Méditerranée INRIA-SOPHIA INRIA - Institut National de Recherche en Informatique et en Automatique TESTALAIN1 Interactive Digital Humans DEambulation et Mouvement ARtificiel Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier INRIA 2 Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes Mathématiques, Informatique, Physique et Systèmes Université de Montpellier Université Côte d'Azur Université de Montpellier (2015-2021) Copublications Inria-Etats-Unis International No No Yes Yes Statically Equivalent Serial Chains for Modeling the Center of Mass of Humanoid Robots Sébastien Cotton 0d28d4ca39dce1a0f9a46a6289d8d4d7 lirmm.fr 938590 700056-938590 Andrew Murray ab27e8e4cf404280a1e21783f186b8b4 dayton.edu 857495 375500-857495 Philippe Fraisse 452b4e9a1bc5f8359b960e3c46d5f5e9 lirmm.fr philippe-fraisse 173014 13595-173014 https://orcid.org/0000-0003-0911-0743 https://www.idref.fr/050516590 8th IEEE-RAS International Conference on Humanoid Robots Humanoids 2008-12-01 2008-12-03 Daejeon South Korea 138-144 2008-12-01 English Humanoid Robot Engineering Sciences [physics]/Automatic Conference papers Conference papers Conference papers

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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