Dynamics and Control of Humanoid Robots: A Geometrical Approach
This paper reviews modern geometrical dynamics and control of humanoid robots. This general Lagrangian and Hamiltonian formalism starts with a proper definition of humanoid's configuration manifold, which is a set of all robot's active joint angles. Based on the ‘covariant force law’, the...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
De Gruyter
2010-12-01
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| Series: | Paladyn |
| Subjects: | |
| Online Access: | https://doi.org/10.2478/s13230-011-0007-7 |