Title :
On the dynamics modeling of free-floating-base articulated mechanisms and applications to humanoid whole-body dynamics and control
Author :
Bouyarmane, Karim ; Kheddar, Abderrahmane
Author_Institution :
ATR Comput. Neurosci. Labs., Kyoto, Japan
fDate :
Nov. 29 2012-Dec. 1 2012
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.
Keywords :
Gaussian processes; humanoid robots; robot dynamics; 6D lie group; Gauss principle; Lagrangian dynamics equation; SE(3); SO(3) component; arbitrarily parameterized free-floating-base articulated mechanisms; arbitrary coordinate charts; equality constraints; free-floating-base articulated mechanisms; general analytic scheme; humanoid robots; humanoid systems; humanoid whole-body control; humanoid whole-body dynamics; nonactuated rigid object; whole-body dynamics modeling; Computational modeling; Equations; Heuristic algorithms; Jacobian matrices; Mathematical model; Robots; Vectors;
Conference_Titel :
Humanoid Robots (Humanoids), 2012 12th IEEE-RAS International Conference on
Conference_Location :
Osaka
DOI :
10.1109/HUMANOIDS.2012.6651496