Quantifying balance capabilities using momentum gain

Brandon J. DeHart; Dana Kulic

doi:10.1109/HUMANOIDS.2017.8246928

Quantifying balance capabilities using momentum gain

Brandon J. DeHart, Dana Kulic

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

1 Citation (Scopus)

Abstract

The ability of a legged system to balance depends on both the control strategy used and the system's physical design. To quantify a system's inherent balance capabilities, we define momentum gains for general 2D and 3D models. We provide two methods for calculating these gains, and relate both velocity and momentum gains to the centroidal momentum of a system, a commonly used measure of aggregate system behavior. Finally, we compare velocity and momentum gains as criteria for the design of simple balancing systems using a parameterized optimization framework.

Original language	English
Title of host publication	2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids 2017)
Editors	Dana Kulic, Jun Morimoto, Jan Peters
Place of Publication	Piscataway NJ USA
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	561-568
Number of pages	8
ISBN (Electronic)	9781538646786, 9781538646779
ISBN (Print)	9781538646793
DOIs	https://doi.org/10.1109/HUMANOIDS.2017.8246928
Publication status	Published - 22 Dec 2017
Externally published	Yes
Event	IEEE-RAS International Conference on Humanoid Robots 2017 - Birmingham, United Kingdom Duration: 15 Nov 2017 → 17 Nov 2017 Conference number: 17th

Publication series

Name	IEEE-RAS International Conference on Humanoid Robots
Publisher	IEEE, Institute of Electrical and Electronics Engineers
ISSN (Print)	2164-0572
ISSN (Electronic)	2164-0580

Conference

Conference	IEEE-RAS International Conference on Humanoid Robots 2017
Abbreviated title	Humanoids 2017
Country	United Kingdom
City	Birmingham
Period	15/11/17 → 17/11/17

Access to Document

10.1109/HUMANOIDS.2017.8246928

Link to publication in Scopus

Cite this

DeHart, B. J., & Kulic, D. (2017). Quantifying balance capabilities using momentum gain. In D. Kulic, J. Morimoto, & J. Peters (Eds.), 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids 2017) (pp. 561-568). (IEEE-RAS International Conference on Humanoid Robots). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/HUMANOIDS.2017.8246928

DeHart, Brandon J. ; Kulic, Dana. / Quantifying balance capabilities using momentum gain. 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids 2017). editor / Dana Kulic ; Jun Morimoto ; Jan Peters. Piscataway NJ USA : IEEE, Institute of Electrical and Electronics Engineers, 2017. pp. 561-568 (IEEE-RAS International Conference on Humanoid Robots).

@inproceedings{2b346104ef334990a8be20e4fecda045,

title = "Quantifying balance capabilities using momentum gain",

abstract = "The ability of a legged system to balance depends on both the control strategy used and the system's physical design. To quantify a system's inherent balance capabilities, we define momentum gains for general 2D and 3D models. We provide two methods for calculating these gains, and relate both velocity and momentum gains to the centroidal momentum of a system, a commonly used measure of aggregate system behavior. Finally, we compare velocity and momentum gains as criteria for the design of simple balancing systems using a parameterized optimization framework.",

author = "DeHart, {Brandon J.} and Dana Kulic",

year = "2017",

month = dec,

day = "22",

doi = "10.1109/HUMANOIDS.2017.8246928",

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series = "IEEE-RAS International Conference on Humanoid Robots",

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booktitle = "2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids 2017)",

address = "United States of America",

note = "IEEE-RAS International Conference on Humanoid Robots 2017, Humanoids 2017 ; Conference date: 15-11-2017 Through 17-11-2017",

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DeHart, BJ & Kulic, D 2017, Quantifying balance capabilities using momentum gain. in D Kulic, J Morimoto & J Peters (eds), 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids 2017). IEEE-RAS International Conference on Humanoid Robots, IEEE, Institute of Electrical and Electronics Engineers, Piscataway NJ USA, pp. 561-568, IEEE-RAS International Conference on Humanoid Robots 2017, Birmingham, United Kingdom, 15/11/17. https://doi.org/10.1109/HUMANOIDS.2017.8246928

Quantifying balance capabilities using momentum gain. / DeHart, Brandon J.; Kulic, Dana.

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids 2017). ed. / Dana Kulic; Jun Morimoto; Jan Peters. Piscataway NJ USA : IEEE, Institute of Electrical and Electronics Engineers, 2017. p. 561-568 (IEEE-RAS International Conference on Humanoid Robots).

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

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AB - The ability of a legged system to balance depends on both the control strategy used and the system's physical design. To quantify a system's inherent balance capabilities, we define momentum gains for general 2D and 3D models. We provide two methods for calculating these gains, and relate both velocity and momentum gains to the centroidal momentum of a system, a commonly used measure of aggregate system behavior. Finally, we compare velocity and momentum gains as criteria for the design of simple balancing systems using a parameterized optimization framework.

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DeHart BJ, Kulic D. Quantifying balance capabilities using momentum gain. In Kulic D, Morimoto J, Peters J, editors, 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids 2017). Piscataway NJ USA: IEEE, Institute of Electrical and Electronics Engineers. 2017. p. 561-568. (IEEE-RAS International Conference on Humanoid Robots). https://doi.org/10.1109/HUMANOIDS.2017.8246928