Dynamic manipulability of the center of mass: a tool to study, analyse and measure physical ability of robots

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Authors

Colleges, School and Institutes

External organisations

  • Jozef Stefan Institute, Ljubljana, Slovenia

Abstract

This paper introduces dynamic manipulability of the center of mass (CoM) as a metric to measure robots’ physical abilities to accelerate their CoMs in different directions. By decomposing the effects of velocity dependent constraints, such as unilateral contacts and friction cones, CoM dynamic manipulability is defined as a velocity independent metric which depends only on robot’s configuration and inertial parameters. Thus, this metric is independent of any choice of controller and expresses only physical abilities of robots. This important property makes the proposed metric a proper tool to study, analyse and design current and future robots. The outcome of the CoM dynamic manipulability analysis in this paper is an ellipsoid in the CoM acceleration space which graphically shows accessible points due to the unit weighted norm of joint torques. Physical meanings and concepts of two reasonable choices for the weighting matrix, which is used in the weighted norm of joint torques, are discussed and illustrative examples are presented. Since the proposed metric measures physical ability to accelerate the CoM, it is claimed to be a suitable tool to study balance ability of legged robots.

Details

Original languageEnglish
Title of host publicationProceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA 2017)
Publication statusPublished - 2017
Event2017 IEEE International Conference on Robotics and Automation (ICRA 2017) - Singapore
Duration: 29 May 20173 Jun 2017

Conference

Conference2017 IEEE International Conference on Robotics and Automation (ICRA 2017)
CitySingapore
Period29/05/173/06/17