Topological duality in humanoid robot dynamics
نویسندگان
چکیده
منابع مشابه
Centroidal dynamics of a humanoid robot
The center of mass (CoM) of a humanoid robot occupies a special place in its dynamics. As the location of its effective total mass, and consequently, the point of resultant action of gravity, the CoM is also the point where the robot’s aggregate linear momentum and angular momentum are naturally defined. The overarching purpose of this paper is to refocus our attention to centroidal dynamics: t...
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ژورنال
عنوان ژورنال: The ANZIAM Journal
سال: 2001
ISSN: 1446-1811,1446-8735
DOI: 10.1017/s144618110001302x