Inicio  /  Applied Sciences  /  Vol: 7 Núm: 7 Par: July (2017)  /  Artículo
ARTÍCULO
TITULO

Calculation of the Center of Mass Position of Each Link of Multibody Biped Robots

Giovanni Gerardo Muscolo    
Darwin Caldwell and Ferdinando Cannella    

Resumen

In this paper, a novel method to determine the center of mass position of each link of human-like multibody biped robots is proposed. A first formulation to determine the total center of mass position has been tested in other works on a biped platform with human-like dimensions. In this paper, the formulation is optimized and extended, and it is able to give as output the center of mass positions of each link of the platform. The calculation can be applied to different types of robots. The optimized formulation is validated using a simulated biped robot in MATLAB.

 Artículos similares

       
 
Olena Butska,Tetiana Nikiforova,Mykola Makhinko,Svitlana Shekhorkina     Pág. 14 - 25
The paper reports a study into the strength and deformability of the node that connects precast slabs and monolithic flooring joists in a flat precast monolithic floor based on the work of dowel pins. Current regulations for the design of reinforced conc... ver más

 
Kazuki Terayama, Michiyasu Odani     Pág. 4258 - 4269
This study aims to examine an expected role of public transportation services in suburban housing development areas of Kobe City in Japan, through calculation of accessibility to the city center using a utility-based measure. The calculation results sugg... ver más

 
Bilgehan YILMAZ ÇAKMAK,Hamdi BEKTAS,Serpil SUCUCAN     Pág. 15 - 27
Aim: There have been many urban design application and research studies describing the connection between user movement and space. The Space Syntax Method, an urban design model developed by the Space Syntax Laboratory at University College London, Engla... ver más

 
P. Cruz, T. Echaveguren, P. González     Pág. Page 5 - 14
Rollover is defined as a moving vehicle?s abrupt loss of the trajectory of the center of gravity. In horizontal curves, it refers to overturning by an unbalance of the lateral acceleration. The likelihood that this turnover occurs can be estimated by stu... ver más

 
Erik Chromy,Matej Kavacky     Pág. 129 - 132
The paper deals with the optimal sizing of the contact center. The most important part of the contact centers are their agents, therefore the modeling of their working time is also important.  In the case of parameter which describes the number of h... ver más