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
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Academic Editors: Toshio Fukuda, Fei Chen and Qing Shi
Appl. Sci. 2017, 7(7), 724; https://doi.org/10.3390/app7070724
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)
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.
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Keywords:
biped robots; center of mass; balance; biped locomotion; multibody biped robots
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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. https://doi.org/10.3390/app7070724
AMA Style
Muscolo GG, Caldwell D, Cannella F. Calculation of the Center of Mass Position of Each Link of Multibody Biped Robots. Applied Sciences. 2017; 7(7):724. https://doi.org/10.3390/app7070724
Chicago/Turabian StyleMuscolo, Giovanni G.; Caldwell, Darwin; Cannella, Ferdinando. 2017. "Calculation of the Center of Mass Position of Each Link of Multibody Biped Robots" Appl. Sci. 7, no. 7: 724. https://doi.org/10.3390/app7070724
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