Statically Equivalent Serial Chains for Modeling the Center of Mass of Humanoid Robots

Sébastien Cotton (1) , Andrew Murray (2) , Philippe Fraisse (3)

1 IDH - Interactive Digital Humans
2 DMAE - Department of Mechanical & Aerospace Engineering
3 DEMAR - Artificial movement and gait restoration

This paper proposes a method for modeling the Center of Mass (CoM) of humanoid robots. The method is based on the Statically Equivalent Serial Chain (SESC) model, a serial chain representation of any multi-link branched chain. An algorithm is presented to automatically construct the SESC of a symmetric anthropomorphic architecture. We also show the use of SESC modeling in the projection of the CoM when the kinematic chain is not positioned on a horizontal plane. Finally, after validating these developments on the HOAP-3 experimental humanoid robot platform, we discuss the interest of this modeling in other areas of research.

Mots clés: Humanoid Robot

Domaines: Automatique / Robotique

Sébastien Cotton, Andrew Murray, Philippe Fraisse. Statically Equivalent Serial Chains for Modeling the Center of Mass of Humanoid Robots. Humanoids, Dec 2008, Daejeon, South Korea. pp.138-144. ⟨lirmm-00355530⟩