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 problems which arise when considering the CoM of an articulated chain. The basic result we show is 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 depends on the mass properties of the original structure.
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© 1998 Springer Science+Business Media Dordrecht
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Espiau, B. (1998). On the Mass Center of Articulated Chains. In: Lenarčič, J., Husty, M.L. (eds) Advances in Robot Kinematics: Analysis and Control. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-9064-8_19
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DOI: https://doi.org/10.1007/978-94-015-9064-8_19
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-5066-3
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