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IROS
2008
IEEE

Centroidal Momentum Matrix of a humanoid robot: Structure and properties

10 years 3 months ago
Centroidal Momentum Matrix of a humanoid robot: Structure and properties
— The centroidal momentum of a humanoid robot is the sum of the individual link momenta, after projecting each to the robot’s Center of Mass (CoM). Centroidal momentum is a linear function of the robot’s generalized velocities and the Centroidal Momentum Matrix is the matrix form of this function. This matrix has been called both a Jacobian matrix and an inertia matrix by others. We show that it is actually a product of a Jacobian and an inertia matrix. We establish the relationship between the Centroidal Momentum Matrix and the well-known joint-space inertia matrix. We present a Transformation Diagram that graphically captures the inter-relationships of the matrix operators and motion and momentum variables in Joint Space, CoM Space as well as the System Space. The Centroidal Momentum Matrix is a local scaling function that maps the joint rates to the centroidal momentum. Following the concept of the manipulability ellipsoid, we propose the centroidal momentum ellipsoid that qua...
David E. Orin, Ambarish Goswami
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors David E. Orin, Ambarish Goswami
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