Previous work has developed specialized computational algorithms for the centroidal momentum matrix (CMM) and its derivative, which relate rates of change in centroidal momentum to joint rates and accelerations of the humanoid. This paper instead shows that specialized algorithms are in fact not always...
In this paper we specifically study the properties, structure and computation schemes for the centroidal momentum matrix (CMM), which projects the generalized velocities of a humanoid robot to its spatial centroidal momentum. Through a transformation diagram we graphically show the relationship between ...
computeFloatingBaseCentroidalMomentumMatrixInverse(): 2.2 getOcs2Jacobian 动力学公式内的关节速度和浮动速度对状态和输入的偏导 /***主要动力学公式内的关节速度和浮动速度对状态和输入的偏导***/template<typenameSCALAR>autoCentroidalModelPinocchioMappingTpl<SCALAR>::getOcs2Jacobian(constvector_t& state,constm...
In this paper, we introduce an O(N) algorithm for the computation of the centroidal momentum matrix (CMM) and its time derivative using spatial algebra and expressed with Lie algebra operators. The proposed algorithm is applied to the postural balance of a humanoid robot using whole body ...
Orin and Goswami indicated that the centroidal momentum are linearly related to joint velocities [22]. They introduced the centroidal momentum matrix (CMM), which represents the linear sensitivity of centroidal momentum to the joint velocities. They recognized the fact that this matrix is a function...