DocumentCode
3090898
Title
Centroidal Momentum Matrix of a humanoid robot: Structure and properties
Author
Orin, David E. ; Goswami, Ambarish
Author_Institution
Dept. of Electr. & Comput. Eng., Ohio State Univ., Columbus, OH
fYear
2008
fDate
22-26 Sept. 2008
Firstpage
653
Lastpage
659
Abstract
The centroidal momentum of a humanoid robot is the sum of the individual link momenta, after projecting each to the robotpsilas Center of Mass (CoM). Centroidal momentum is a linear function of the robotpsilas generalized velocities and the centroidal momentum matrix is the matrix form of this function. This matrix has been called both a Jacobian matrix and an inertia matrix by others. We show that it is actually a product of a Jacobian and an inertia matrix.
Keywords
Jacobian matrices; humanoid robots; Jacobian matrix; centroidal momentum matrix; humanoid robot; individual link momenta; inertia matrix; Equations; Humanoid robots; Jacobian matrices; Joints; Matrices; Robot kinematics; Robots; angular momentum; centroidal momentum ellipsoid; inertia matrix; linear momentum; matrix properties; momentum matrix;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location
Nice
Print_ISBN
978-1-4244-2057-5
Type
conf
DOI
10.1109/IROS.2008.4650772
Filename
4650772
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