Title
Multibody dynamics on stable humanoid motion with special euclideans groups, called SE(3)
Date Issued
01 January 2010
Access level
metadata only access
Resource Type
conference paper
Author(s)
Balaguer C.
Universidad de Madrid Carlos III
Publisher(s)
World Scientific
Abstract
This paper deals with alternative humanoid robot dynamics modelling, using the screw theory and Lie groups called the special Euclidean group (SE(3)). The forward dynamic model is deduced analitically, which is solved by propagation method from an end-effector to the center of gravity (COG) always on the SE(3). Many tests for reference dynamic walking patterns have been carried out, which are represented in simulation and experimental results. The results will be discussed in order to validate the proposed algorithms.
Start page
745
End page
752
Language
English
OCDE Knowledge area
Robótica, Control automático
Subjects
Scopus EID
2-s2.0-85071853840
Resource of which it is part
Emerging Trends in Mobile Robotics
ISBN of the container
978-981432797-8
Conference
13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010
Sponsor(s)
I want to thank the Rh-0 and Rh-1 humanoid robot team, our students and the Robotics lab members for their support during our research. This research is supported by the CICYT (Comisión Interministerial de Ciencia y Tecnologia), Ref.: DPI2004-00325.
Sources of information:
Directorio de Producción Científica
Scopus