Publications

@INPROCEEDINGS{bouyarmane12dynamics,
  author = {Bouyarmane, Karim and Kheddar, Abderahmanne},
  title = {On the Dynamics Modeling of Free-Floating-Base Articulated Mechanisms
	and Applications to Humanoid Whole-Body Dynamics and Control},
  booktitle = {IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids'12)},
  year = {2012},
  volume = {1},
  pages = {036-042},
  address = {Osaka, Japan},
  month = {December},
  note = {Japan Society for the Promotion of Science (JSPS) Grant-in-Aid for
	Scientific Research (B), 22300071, 2010. 
	
	RoboHow.Cog},
  abstract = {{We propose in this paper a general analytic scheme based on Gauss
	principle of least constraint for the derivation of the Lagrangian
	dynamics equation of motion of arbitrarily parameterized free-floating-base
	articulated mechanisms. The free-floating base of the mechanism is
	a non-actuated rigid object evolving in the 6D Lie group SE(3), the
	SO(3) component of which can be parameterized using arbitrary coordinate
	charts with equality constraints, for instance unit quaternions (also
	known as Euler parameters). This class of systems includes humanoid
	robots, and the presented formalism is particularly suitable for
	the whole-body dynamics modeling and control problem of such humanoid
	systems. Example motions of humanoid in arbitrary contact states
	with the environment demonstrate the originality of the approach.}},
  affiliation = {ATR Computational Neuroscience Lab , Joint Robotics Laboratory AIST
	\& CNRS - JRL , Laboratoire d'Informatique de Robotique et de Micro{\'e}lectronique
	de Montpellier - LIRMM},
  audience = {internationale },
  hal_id = {lirmm-00765815},
  keywords = {Whole-body dynamics, control, sensing, informatics, Humanoid locomotion,
	manipulation, perception, planning},
  language = {Anglais}
}