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

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SUMMARY

The calculation of the centre of mass and centre of gravity for a humanoid robot, such as Fujitsu's HOAP-3, involves determining the mass and position of each individual part, including legs and head. The overall centre of mass can be computed using the formula: C = ([x1 + x2 + …]/M, [y1 + y2 + …]/M, [z1 + z2 + …]/M), where M is the total mass of the robot. This method ensures accurate positioning for effective control of an inverted linear pendulum design.

PREREQUISITES
  • Understanding of basic physics concepts related to mass and gravity.
  • Familiarity with humanoid robot design and structure.
  • Ability to perform mathematical calculations involving coordinates and mass.
  • Knowledge of the specific humanoid robot model, such as Fujitsu's HOAP-3.
NEXT STEPS
  • Research the mathematical principles behind centre of mass calculations.
  • Explore the design specifications and mass distribution of the Fujitsu HOAP-3 robot.
  • Learn about control systems for inverted pendulum robots.
  • Investigate simulation tools for modeling humanoid robot dynamics.
USEFUL FOR

Robotics engineers, students in mechanical engineering, and hobbyists interested in humanoid robot design and control systems.

iro2010009
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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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