NDLI: On the dynamics modeling of free-floating-base articulated mechanisms and applications to humanoid whole-body dynamics and control

Content Provider	IEEE Xplore Digital Library
Author	Bouyarmane, K. Kheddar, A.
Copyright Year	2012
Description	Author affiliation: ATR Comput. Neurosci. Labs., Kyoto, Japan (Bouyarmane, K.) \|\| AIST Joint Robot. Lab. (JRL), Tsukuba, Japan (Kheddar, A.)
Abstract	We propose in this paper a general analytic scheme based on Gauss principle of least constraint for the derivation of the Lagrangian dynamics equation of motion of arbitrarily parameterized free-floating-base articulated mechanisms. The free-floating base of the mechanism is a non-actuated rigid object evolving in the 6D Lie group SE(3), the SO(3) component of which can be parameterized using arbitrary coordinate charts with equality constraints, for instance unit quaternions (also known as Euler parameters). This class of systems includes humanoid robots, and the presented formalism is particularly suitable for the whole-body dynamics modeling and control problem of such humanoid systems. Example motions of humanoid in arbitrary contact states with the environment demonstrate the originality of the approach.
Starting Page	36
Ending Page	42
File Size	1922182
Page Count	7
File Format	PDF
ISBN	9781467313698
ISSN	21640572
DOI	10.1109/HUMANOIDS.2012.6651496
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-11-29
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Jacobian matrices Heuristic algorithms Computational modeling Vectors Mathematical model Equations Robots
Content Type	Text
Resource Type	Article

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On the dynamics modeling of free-floating-base articulated mechanisms and applications to humanoid whole-body dynamics and control.

On the dynamics modeling of free-floating-base articulated mechanisms and applications to humanoid whole-body dynamics and control (2012).

On the Dynamics Modeling of Free-Floating-Base Articulated Mechanisms and Applications to Humanoid Whole-Body Dynamics and Control

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