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IROS

2008

IEEE

2008

IEEE

— 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...

Added |
31 May 2010 |

Updated |
31 May 2010 |

Type |
Conference |

Year |
2008 |

Where |
IROS |

Authors |
David E. Orin, Ambarish Goswami |

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