Quantifying balance capabilities using momentum gain

Brandon J. DeHart, Dana Kulic

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-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 languageEnglish
Title of host publication2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids 2017)
EditorsDana Kulic, Jun Morimoto, Jan Peters
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages561-568
Number of pages8
ISBN (Electronic)9781538646786, 9781538646779
ISBN (Print)9781538646793
DOIs
Publication statusPublished - 22 Dec 2017
Externally publishedYes
EventIEEE-RAS International Conference on Humanoid Robots 2017 - Birmingham, United Kingdom
Duration: 15 Nov 201717 Nov 2017
Conference number: 17th

Publication series

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

Conference

ConferenceIEEE-RAS International Conference on Humanoid Robots 2017
Abbreviated titleHumanoids 2017
CountryUnited Kingdom
CityBirmingham
Period15/11/1717/11/17

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