B - Operations – Transporting – 25 – J
Patent
B - Operations, Transporting
25
J
B25J 9/16 (2006.01) B62D 57/032 (2006.01) G06F 19/00 (2006.01)
Patent
CA 2418727
This invention relates to a method for generating a motion of a human type link system, such as in a humanoid robot. In this invention, a dynamically feasible motion of the link system is generated when a reference joint acceleration that is only calculated from a kinematical constraint condition is determined not feasible from by an evaluation of external force computed based on an inverse dynamics calculation, or is generated by a calculating from dynamic constraint condition and a kinematical constraint condition simultaneously, the dynamic constraint condition is formulated by using an actuation space inverse inertial matrix that represents the relation of force acted on the link system and the acceleration of the link system caused by the said acceleration.
Nakamura Yoshihiko
Tange Manabu
Yamane Katsu
Ogilvy Renault Llp/s.e.n.c.r.l.,s.r.l.
The University Of Tokyo
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