Dynamic model
Modeling humanoid robots

Article REF: S7753 V1

Dynamic model
Modeling humanoid robots

Authors : Gabriel ABBA, Yannick AOUSTIN

Publication date: December 10, 2014 | Lire en français

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5. Dynamic model

The Lagrangian representation and the Hamil- tonian representation are two possible representations for defining the dynamic behavior of a mechanical system. In the first case, the model of a mechanical system with n degrees of freedom is described by n second-order differential equations in terms of generalized...

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Bibliography

(1) - ACARY (V.), BROGLIATO (B.) - Coefficients de restitution et efforts aux impacts. Revue et comparaison des estimations analytiques. - Rapport de Recherche 5401, INRIA (2004).
(2) - ANTOINE (J.-F.), VISA (C.), SAUVEY (C.), ABBA (G.) - Approximate analytical...

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