elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

On the inertially decoupled structure of the floating base robot dynamics

Garofalo, Gianluca and Henze, Bernd and Englsberger, Johannes and Ott, Christian (2015) On the inertially decoupled structure of the floating base robot dynamics. In: 8th Vienna International Conference on Mathematical Modelling (MATHMOD), pp. 322-327. 8th Vienna International Conference on Mathematical Modelling (2015), Vienna, Austria.

[img] PDF
733kB

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/
Document Type:Conference or Workshop Item (Speech)
Title:On the inertially decoupled structure of the floating base robot dynamics
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Garofalo, Gianlucagianluca.garofalo (at) dlr.deUNSPECIFIED
Henze, Berndbernd.henze (at) dlr.deUNSPECIFIED
Englsberger, Johannesjohannes.englsberger (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.deUNSPECIFIED
Date:February 2015
Journal or Publication Title:8th Vienna International Conference on Mathematical Modelling (MATHMOD)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 322-327
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
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
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:31 Jul 2019 20:10

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.