Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: The centroidal momentum of a humanoid robot is the sum of the individual link momenta, after projecting each to the robotpsilas Center of Mass (CoM). Centroidal momentum is a linear function of the robotpsilas generalized velocities and the centroidal momentum matrix is the matrix form of this function. This matrix has been called both a Jacobian matrix and an inertia matrix by others.  show that it is actually a product of a Jacobian and an inertia matrix.
['David E. Orin', 'Ambarish Goswami']
I am writing a research paper on a idea Centroidal Momentum Matrix of a humanoid robot: Structure and properties
[{"from": "human", "value": "I am writing a research paper on a idea Centroidal Momentum Matrix of a humanoid robot: Structure and properties"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: The centroidal momentum of a humanoid robot is the sum of the individual link momenta, after projecting each to the robotpsilas Center of Mass (CoM). Centroidal momentum is a linear function of the robotpsilas generalized velocities and the centroidal momentum matrix is the matrix form of this function. This matrix has been called both a Jacobian matrix and an inertia matrix by others.  show that it is actually a product of a Jacobian and an inertia matrix."}]