article

Centroidal dynamics of a humanoid robot

Authors:

Ambarish Goswami,

Sung-Hee LeeAuthors Info & Claims

Autonomous Robots, Volume 35, Issue 2-3

Pages 161 - 176

https://doi.org/10.1007/s10514-013-9341-4

Published: 01 October 2013 Publication History

Abstract

The center of mass (CoM) of a humanoid robot occupies a special place in its dynamics. As the location of its effective total mass, and consequently, the point of resultant action of gravity, the CoM is also the point where the robot's aggregate linear momentum and angular momentum are naturally defined. The overarching purpose of this paper is to refocus our attention to centroidal dynamics : the dynamics of a humanoid robot projected at its CoM. In this paper we specifically study the properties, structure and computation schemes for the centroidal momentum matrix (CMM), which projects the generalized velocities of a humanoid robot to its spatial centroidal momentum. Through a transformation diagram we graphically show the relationship between this matrix and the well-known joint-space inertia matrix. We also introduce the new concept of "average spatial velocity" of the humanoid that encompasses both linear and angular components and results in a novel decomposition of the kinetic energy. Further, we develop a very efficient $$O(N)$$ O ( N ) algorithm, expressed in a compact form using spatial notation, for computing the CMM, centroidal momentum, centroidal inertia, and average spatial velocity. Finally, as a practical use of centroidal dynamics we show that a momentum-based balance controller that directly employs the CMM can significantly reduce unnecessary trunk bending during balance maintenance against external disturbance.

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Published In

cover image Autonomous Robots

Autonomous Robots Volume 35, Issue 2-3

October 2013

140 pages

ISSN:0929-5593

Issue’s Table of Contents

Copyright © Copyright © 2013 Springer Science+Business Media New York.

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Kluwer Academic Publishers

United States

Publication History

Published: 01 October 2013

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https://dl.acm.org/doi/10.1109/TRO.2024.3504132
Wang JKim SLembono TDu WShim JSamadi SWang KIvan VCalinon SVijayakumar STonneau S(2024)Online Multicontact Receding Horizon Planning via Value Function ApproximationIEEE Transactions on Robotics10.1109/TRO.2024.339215440(2791-2810)Online publication date: 22-Apr-2024
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Jin WPosa M(2024)Task-Driven Hybrid Model Reduction for Dexterous ManipulationIEEE Transactions on Robotics10.1109/TRO.2024.335953140(1774-1794)Online publication date: 1-Jan-2024
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Wensing PPosa MHu YEscande AMansard NPrete A(2024)Optimization-Based Control for Dynamic Legged RobotsIEEE Transactions on Robotics10.1109/TRO.2023.332458040(43-63)Online publication date: 1-Jan-2024
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