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Garofalo, Gianluca and Henze, Bernd and Englsberger, Johannes and Ott, Christian (2015) On the inertially decoupled structure of the floating base robot dynamics. In: International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives, pp. 322-327. 8th Vienna International Conference on Mathematical Modelling (2015), 2015-02-18 - 2015-02-20, Vienna, Austria. doi: 10.1016/j.ifacol.2015.05.189. ISSN 1682-1750.
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Abstract
In this paper a coordinate transformation is proposed that provides an inertially decoupled structure for the equations of motion of a floating base robot. As the center of mass (CoM) has been used both for locomotion and balancing of legged robots because of its decoupled dynamics from the rest of the system, we expect to benefit from our coordinate transformation since it allows to separate the linear and angular centroidal dynamics from the joint dynamics. Gaining insights about the model, simpler and more effective control laws can be developed. As an example of application, the proposed transformation is used in the derivation of a humanoid balance controller.
| Item URL in elib: | https://elib.dlr.de/112841/ | ||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||
| Title: | On the inertially decoupled structure of the floating base robot dynamics | ||||||||||||||||||||
| Authors: |
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| Date: | February 2015 | ||||||||||||||||||||
| Journal or Publication Title: | International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives | ||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||
| Open Access: | Yes | ||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||||||
| DOI: | 10.1016/j.ifacol.2015.05.189 | ||||||||||||||||||||
| Page Range: | pp. 322-327 | ||||||||||||||||||||
| ISSN: | 1682-1750 | ||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||
| Keywords: | Robotics, Dynamics, Co-ordinate transformations, Conservation of momentum, Humanoid balance controller. | ||||||||||||||||||||
| Event Title: | 8th Vienna International Conference on Mathematical Modelling (2015) | ||||||||||||||||||||
| Event Location: | Vienna, Austria | ||||||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||||||
| Event Start Date: | 18 February 2015 | ||||||||||||||||||||
| Event End Date: | 20 February 2015 | ||||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||||||
| HGF - Program Themes: | Space System Technology | ||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||
| DLR - Research theme (Project): | R - Terrestrial Assistance Robotics (old) | ||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems | ||||||||||||||||||||
| Deposited By: | Garofalo, Dr. Ing. Gianluca | ||||||||||||||||||||
| Deposited On: | 14 Jul 2017 17:44 | ||||||||||||||||||||
| Last Modified: | 04 Jun 2024 14:21 |
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