Inverse kinematics solution for humanoid robot minimizing gravity-related joint torques
K Mikołajczyk, M Szumowski… - Archive of Mechanical …, 2022 - repo.pw.edu.pl
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 …
shaped manipulator is presented. Robot trajectory consists of a set of trajectories of the …
Design of the H∞ regulator for the stabilization of humanoid robot during walking
Stabilization during walking is one of main tasks of humanoid robots and this is ensured by
various types of regulators. Described are the four subsystems (mechanical, motion …
various types of regulators. Described are the four subsystems (mechanical, motion …