On the Computation and Control of the Mass Center of Articulated Chains

Bernard Espiau 1 Ronan Boulic
1 BIP - Biped Robot
Inria Grenoble - Rhône-Alpes
Abstract : The control of the center of mass of a robot is a relevant problem in case of biped walking machines. Besides, studying the motion and the stabilization of the center of mass of a human is an important research topic in the area of biomechanics. Finally, the two areas are involved when we want to synthesize certain classes of realistic motions in computer animation. In this paper, we address some of the modelling and control problems which arise when considering the CoM of an articulated chain. In a first part, we show that the position of the CoM of a general tree-structure kinematic chain can always be represented by the end-point position of an equivalent serial open kinematic chain, the geometric parameters of which depend on the mass properties of the original structure. We then use this result in a second part, in which we describe a way of specifying tasks involving the motion of the CoM. We also propose in the paper a general approach of the associated control problem and of its implementation and give an example of application to computer animation.
Type de document :
Rapport
RR-3479, INRIA. 1998
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Bernard Espiau, Ronan Boulic. On the Computation and Control of the Mass Center of Articulated Chains. RR-3479, INRIA. 1998. 〈inria-00073210〉

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