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This paper deals with alternative humanoid robot dynamics modelling, using the screw theory and Lie groups called the special Euclidean group (SE(3)). The dynamic models are deduced analitically. The inverse dynamics model is obtained by the Lagrangian formulation under screw theory, when the Jacobian manipulator depends on the respective twist and joint angles; on the other hand, the POE formula...
This paper addresses the problem of generating dynamic motion for a humanoid between two predefined postures. The humanoid robot starts its motion from a statically stable configuration to another known statically stable configuration when it is necessary to make step; that is, the center of mass (COM) is inside the support polygon at the initial and the goal configurations. A dynamic motion generation...
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