[choreonoid-users 00028] Re: Doubt about ZMP calculation

[Shin'ichiro Nakaoka]

Hi Luis,

> Just to confirm if i understood correctly . The Moment od Inertia is
> calculated referenced to the to Base link and not to the Joint rotation
> axis nor to the link center of mass, correct?

No. The inertia matrix of each link is the value around the center of
mass of the link, and the rotation axes correspond to the link local
coordinate.

There is a case where the rigid body of a link is modeled as the
composition of several rigid bodies, and the formulas you pointed out
calculates the sum of all the moments of inertia.

-- 
Shin'ichiro Nakaoka <s.nakaoka �� aist.go.jp>