I've been working on Humanoid Robot, and I face the problem of finding the Center of Mass of the Robot which will help in balancing the biped. Although COM has a very simple definition, I'm unable to find a simple solution to my problem.
My view: I have already solved the Forward and Inverse Kinematics of the Robot with Torso as the base frame. So, if I can find the position(and orientation) of each joint in the base frame, I can average all of them to get the COM. Is this approach reasonable? Will it produce the correct COM?
Can anyone offer any series of steps that I can follow to find the COM of the biped? Any help would be appreciated.