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DTSTART:20141026T030000
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UID:calendar.6966.field_data.0@www.ugov-ricerca.uniroma1.it
DTSTAMP:20260406T010722Z
CREATED:20141114T181450Z
DESCRIPTION:Identifying the center of mass (CoM) of an articulated system\,
  a human or humanoid for example\, is important due to its roll in stabili
 ty and as a gauge of motion for the entire system. As such\, precise deter
 mination of the CoM is useful in improving balance control algorithms in h
 umanoids and in measuring the effectiveness of physical therapies in human
 s. The statically equivalent serial chain (SESC) is a tool under developme
 nt for locating and tracking the CoM. Any articulated system of rigid bodi
 es defines a SESC\, a virtual chain that terminates at the CoM of the orig
 inal system of bodies. A SESC may be generated experimentally without know
 ing the mass\, CoM\, or length of the links in the system given that its j
 oint angles and the projection of the overall CoM may be measured. This al
 lows for the development of a SESC in a subject-specific way\, without the
  need for anthropometric tables\, and without need for a force plate to tr
 ack the CoM. This presentation will show the development of the SESC conce
 pt and apply it to humans by showing the results of experiments in locatin
 g and tracking the CoM. Biosketch Andrew Murray received the B.S. degree i
 n mechanical engineering from the Rose-Hulman Institute of Technology in 1
 989\, and the M.S. and Ph.D. degrees in mechanical engineering from the Un
 iversity of California\, Irvine in 1993 and 1996\, respectively. In 1997\,
  he joined the Department of Mechanical & Aerospace Engineering at the Uni
 versity of Dayton as an Assistant Professor\, became an Associate Professo
 r in 2003\, and a Professor in 2011. He is a Director of the Design of Inn
 ovative Machines Lab (DIMLab) where the research in kinematic synthesis th
 eory and machine design includes shape-changing mechanisms with applicatio
 ns in variable geometry extrusion dies\, novel devices that utilize strain
 -energy in automobiles\, and accurate estimation and tracking of the cente
 r of mass of complex systems. He also has a long-standing collaboration wi
 th researchers at the Laboratoire d’Informatique\, de Robotique et de Micr
 oélectronique in Montpellier\, France. Dr. Murray is a Fellow of ASME. He 
 won the highest teaching award offered by his university in 2013. He was G
 eneral Program Chair of the ASME International Design Engineering Technica
 l Conferences in 2010 and has served as an Associate Editor for the ASME J
 ournal of Mechanisms and Robotics since it was founded in 2007.
DTSTART;TZID=Europe/Paris:20141209T103000
DTEND;TZID=Europe/Paris:20141209T103000
LAST-MODIFIED:20210526T120258Z
LOCATION:aula A6
SUMMARY:Accurately Locating and Tracking the Center of Mass in Humanoids an
 d Humans - Andrew Murray
URL;TYPE=URI:http://www.ugov-ricerca.uniroma1.it/node/6966
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