Next Article in Journal
SwissFEL: The Swiss X-ray Free Electron Laser
Next Article in Special Issue
Data-Foraging-Oriented Reconnaissance Based on Bio-Inspired Indirect Communication for Aerial Vehicles
Previous Article in Journal
The New Concept of Nano-Device Spectroscopy Based on Rabi–Bloch Oscillations for THz-Frequency Range
Previous Article in Special Issue
Human-Like Walking with Heel Off and Toe Support for Biped Robot
Article Menu
Issue 7 (July) cover image

Export Article

Open AccessArticle
Appl. Sci. 2017, 7(7), 724; doi:10.3390/app7070724

Calculation of the Center of Mass Position of Each Link of Multibody Biped Robots

Department of Advanced Robotics, Italian Institute of Technology, via Morego, 30, Genova 16163, Italy
*
Author to whom correspondence should be addressed.
Academic Editors: Toshio Fukuda, Fei Chen and Qing Shi
Received: 26 May 2017 / Revised: 4 July 2017 / Accepted: 10 July 2017 / Published: 14 July 2017
(This article belongs to the Special Issue Bio-Inspired Robotics)
View Full-Text   |   Download PDF [2213 KB, uploaded 17 July 2017]   |  

Abstract

In this paper, a novel method to determine the center of mass position of each link of human-like multibody biped robots is proposed. A first formulation to determine the total center of mass position has been tested in other works on a biped platform with human-like dimensions. In this paper, the formulation is optimized and extended, and it is able to give as output the center of mass positions of each link of the platform. The calculation can be applied to different types of robots. The optimized formulation is validated using a simulated biped robot in MATLAB. View Full-Text
Keywords: biped robots; center of mass; balance; biped locomotion; multibody biped robots biped robots; center of mass; balance; biped locomotion; multibody biped robots
Figures

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Muscolo, G.G.; Caldwell, D.; Cannella, F. Calculation of the Center of Mass Position of Each Link of Multibody Biped Robots. Appl. Sci. 2017, 7, 724.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Appl. Sci. EISSN 2076-3417 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top