A Relevant Reduction Method for Dynamic Modeling of a Seven-linked Humanoid Robot in the Three-dimensional Space
نویسندگان
چکیده
In this paper, the dynamic modeling of a seven linked humanoid robot Newton-Euler formalism. The aim of this study is to provide a clear and a systematic approach so that starting from generalized moti equations of all rigid bodies of the humanoid robot one can establish a reduced dynamic either for simulation propositions or implemented for any given control law. In addition, transformations and developments, p here, can be exploited for modeling any other three rigid bodies and degrees of freedom. © 2012 The Authors. Published by Elsevier Ltd. Selection and/or peer Humanoid Robots and Bio-Sensor (HuRoBs), Faculty of
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ورودعنوان ژورنال:
- CoRR
دوره abs/1405.2795 شماره
صفحات -
تاریخ انتشار 2014