Center of mass estimation in irregular planar terrains using a geometric approach

@article{Barrios2016CenterOM,
  title={Center of mass estimation in irregular planar terrains using a geometric approach},
  author={Luenin Barrios and Wei-Min Shen},
  journal={2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)},
  year={2016},
  pages={64-70}
}
Locomotion maneuvers over irregular terrains involve complex forces and movements that make estimation of center of mass(CoM) behavior a challenging task. Nevertheless, understanding CoM dynamics remains pivotal in locomotion planning for both humans and robots. Current methods for CoM position estimation rely heavily on expensive and ungainly tools, for example force plates, that render CoM analysis impractical and time consuming. To tackle these challenges, this paper proposes an efficient… CONTINUE READING

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