Abstract
Chapter 3 has shown a method that makes use of a graphical formulation employing graph theories for performing the computation of both kinematic quantities (i.e. angular velocities of the center of mass of links, but also linear and angular acceleration), and dynamic (internal forces and moment on the connection elements between the links, but also externally applied wrenches). This chapter shows the application of the method presented in Chap. 3, applied to the dynamic formulation of the iCub humanoid robot (see Chap. 2). Section 4.1 summarizes the steps required for building the kinematic and dynamic model of robotic mechanisms. The application of the method will be shown for different simple robotic structures, and will then be used for modeling the iCub robot. Results will be reported in Sect. 4.3.2, where the validation of the inverse dynamic algorithm and the model is addressed by means of the comparison between computed and measured internal wrenches at the sensor reference frame. Two other experiments show the comparison of externally applied forces measured with an external FTS, with virtual FTS exploiting the proposed method. Also a comparison of external torques on the joints will be performed.
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Notes
- 1.
Practically, these equations can be obtained by defining an arbitrary \(\lozenge \) connected to an arbitrary node. A post-order traversal of the graph with \(\lozenge \) as root determines the equations by simply assuming that the wrench associated to the edge connected to \(\lozenge \) is null.
- 2.
In this cases, usually the terminal link or the end-effector is selected.
- 3.
Torques estimation from embedded F/T sensors can be obtained using (4.1) with the \(\mu _i\) computed propagating the F/T sensor information within the graph according to the procedure presented in previous sections.
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Fumagalli, M. (2014). Building EOG for Computing Dynamics and External Wrenches of the iCub Robot. In: Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors. Springer Theses. Springer, Cham. https://doi.org/10.1007/978-3-319-01122-6_4
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DOI: https://doi.org/10.1007/978-3-319-01122-6_4
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