Inverse kinematics solution for humanoid robot minimizing gravity-related joint torques
A method of solving the inverse kinematics problem for a humanoid robot modeled as a tree-shaped manipulator is presented. Robot trajectory consists of a set of trajectories of the characteristic points (the robot’s center of mass, origins of feet and hands frames) in the discrete time domain. The d...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Polish Academy of Sciences
2022-06-01
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| Series: | Archive of Mechanical Engineering |
| Subjects: | |
| Online Access: | https://journals.pan.pl/Content/123267/PDF/AME_2022_140423.pdf |