This work presents a study of the human/humanoid locomotion system and a method for
adaptation of the human motion capture data (HMCD) for driving a humanoid robot. The …

The force analysis of overconstrained PMs is relatively complex and difficult, for which the
methods have always been a research hotspot. However, few literatures analyze the …

The transformation from high level task specification to low level motion control is a
fundamental issue in sensorimotor control in animals and robots. This thesis develops a …

Robots typically have an individual actuator at each joint which can result in a nonintuitive
and difficult control problem. In this paper we present a control method in which the real joint …

This article first presents a novel method that solves the inverse force problem of the
redundantly actuated parallel manipulators. By taking into account the elastic deformation of …

The real-time force control of a quadruped robot involves optimization of an
underdetermined force system subjected to both equality and inequality constraints. A new …

The contribution of this paper is the introduction of three new pseudo-inverse formulations
for the real-time control of foot-force distribution in multi-legged walking machines. Three …

This paper reveals the relationship between the weighted Moore–Penrose generalized
inverse and the force analysis of overconstrained parallel mechanisms (PMs), including …

In this paper, a compliant control scheme based on the optimization of the contact force of
the robot leg is proposed to improve the stability of the whole moving process of the robot …

将一般过约束并联机构定义的过约束称为被动过约束, 冗余驱动并联机构引入的过约束称为主动
过约束, 进而将过约束并联机构分为被动过约束并联机构, 主动过约束并联机构和冗余驱动过 …