A method for the calculation of the effective Center of Mass of humanoid robots

Muscolo, Giovanni Gerardo; Recchiuto, Carmine Tommaso; Laschi, Cecilia; Dario, P.; Hashimoto, Kenji; Takanishi, Atsuo

doi:10.1109/humanoids.2011.6100864

Cited by 17 publications

(20 citation statements)

References 12 publications

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“…The humanoid platform SABIAN was presented in this paper with a deep comparison with its Japanese version WABIAN-2. The innovative solutions adopted in the Italian platform, such as the incorporation of the joint with the shaft and a new method for the exact calculation of the error mass [11] are described in details with regards of the previous issues.…”

Section: Discussionmentioning

confidence: 99%

“…At this aim, a new method for the minimization of the errors between a real humanoid robot and a virtual model was studied and implemented [11]. The method allowed reducing the errors in the ZMP motions and in the joint positions, achieving a better repeatability and predictability of the robot behavior.…”

Section: Sabian: Sensors Electronics and Softwarementioning

confidence: 99%

“…A detailed description of the SABIAN characteristics, in particular compared to WABIAN-2, is presented in this paper. The SABIAN robot moved its first steps in 2010 thanks to the optimization of the center of mass position presented in [11] and to innovative hardware solutions implemented on the SABIAN and presented in this paper. Future steps are oriented to implement some of these solutions on the WA-BIAN-2 and on the humanoid robots that will be developed in the future.…”

Section: Introductionmentioning

confidence: 99%

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Towards an Improvement of the SABIAN Humanoid Robot: from Design to Optimization

Muscolo¹,

Recchiuto²,

Hashimoto³

et al. 2012

JMEA

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In this paper the humanoid robot SABIAN (Sant'Anna BIpedal humANoid) is presented and analyzed in details.In particular, the differences between the SABIAN platform and the WABIAN-2 (WAseda BIpedal humANoid), its original Japanese version, are underlined. Some innovative solutions, as the exact calculation of the error mass and the adoption of a new shaft with incorporated joint used to transfer motion, allowed to improve the performances of the robot. Other works, such as the development of a harvesting system for recovering energy, are planned for the next future in order to optimize the platform.

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Section: Discussionmentioning

confidence: 99%

Section: Sabian: Sensors Electronics and Softwarementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Towards an Improvement of the SABIAN Humanoid Robot: from Design to Optimization

Muscolo¹,

Recchiuto²,

Hashimoto³

et al. 2012

JMEA

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“…SABIAN [7,8] (Figure 5) has two 7-DOF legs, a 2-DOF waist, and a 2-DOF trunk. Each actuator system of the joint consists of a DC motor, a harmonic drive gear, a lug belt, and two pulleys.…”

Section: Sabian Humanoidmentioning

confidence: 99%

“…The next steps will be the implementation of these systems into the DEXTER robotic arm with the ultimate aim of control and design of the two arms of the humanoid robot SABIAN ( Figure 5) [7,8].…”

Section: Introductionmentioning

confidence: 99%

A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm

Muscolo¹,

Hashimoto

Takanishi

et al. 2013

Journal of Robotics

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The authors propose a comparison between two force-position controllers with gravity compensation simulated on the DEXTER bioinspired robotic arm. The two controllers are both constituted by an internal proportional-derivative (PD) closed-loop for the position control. The force control of the two systems is composed of an external proportional (P) closed-loop for one system (P system) and an external proportional-integrative (PI) closed-loop for the other system (PI system). The simulation tests performed with the two systems on a planar representation of the DEXTER, an eight-DOF bioinspired arm, showed that by varying the stiffness of the environment, with a correct setting of parameters, both systems ensure the achievement of the desired force regime and with great precision the desired position. The two controllers do not have large differences in performance when interacting with a lower stiffness environment. In case of an environment with greater rigidity, the PI system is more stable. The subsequent implementation of these control systems on the DEXTER robotic bioinspired arm gives guidance on the design and control optimisation of the arms of the humanoid robot named SABIAN.

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