Calculating Centre of Mass and Centre of Gravity for a Humanoid Robot

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To calculate the center of mass and center of gravity for a humanoid robot, it's essential to determine the center of mass for each individual part, such as legs and head. The total center of mass can then be calculated using the formula that averages the positions of each part, weighted by their respective masses. Since the center of mass and center of gravity are the same on Earth, this approach simplifies the calculation. Each part's mass and position must be accurately measured to ensure precise results. This method is applicable to various humanoid robot designs.
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hii..

this is shruti...
i want to make an inverted linear pendulum of bi ped humanoid robo...
can any 1 help me in calculating the centre of mass and centre of gravity... of a humanoid robot...
 
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welcome to pf!

hi shruti! welcome to pf! :smile:

centre of mass and centre of gravity of a robot on Earth are the same thing

to find the centre of mass of the whole robot at time t, find the centre of mass of each part (leg etc) at time t, then use the usual formula to find the overall centre of mass :wink:
 
hi shruti! :smile:

if you have a robot like Fujitsu's http://home.comcast.net/~jtechsc/HOAP-3_Spec_Sheet.pdf" ,

find the mass of each individual part (leg, head, etc), and find the position of the centre of mass of each part (the parts are reasonably regular, should that should be fairly easy)

then if the masses are m1 m2 etc, so that the total mass is M = m1 + m2 + …

and if the centre of mass of the nth part is at position (xn, yn, zn),

then the centre of mass is at ([x1 + x2 + …]/M, [y1 + y2 + …]/M, [z1 + z2 + …]/M) :smile:
 
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