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Centroidal dynamics of a humanoid robot
The center of mass (CoM) of a humanoid robot occupies a special place in its dynamics. As the location of its effective total mass, and consequently, the point of resultant action of gravity, the CoMExpand
  • 203
  • 18
  • Open Access
Efficient Dynamic Computer Simulation of Robotic Mechanisms
  • 548
  • 17
A compliant contact model with nonlinear damping for simulation of robotic systems
Contact modeling is an important aspect of simulation of many robotic tasks. In the paper, a compliant contact model with nonlinear damping is investigated, and many previously unknownExpand
  • 210
  • 14
Robot dynamics: equations and algorithms
This paper reviews some of the accomplishments in the field of robot dynamics research, from the development of the recursive Newton-Euler algorithm to the present day. Equations and algorithms areExpand
  • 311
  • 10
  • Open Access
Efficient algorithm for optimal force distribution-the compact-dual LP method
An efficient algorithm, the compact-dual linear programming (LP) method, is presented to solve the force distribution problem. In this method, the general solution of the linear equality constraintsExpand
  • 207
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Centroidal Momentum Matrix of a humanoid robot: Structure and properties
  • D. Orin, A. Goswami
  • Computer Science, Mathematics
  • IEEE/RSJ International Conference on Intelligent…
  • 14 October 2008
The centroidal momentum of a humanoid robot is the sum of the individual link momenta, after projecting each to the robotpsilas Center of Mass (CoM). Centroidal momentum is a linear function of theExpand
  • 98
  • 6
  • Open Access
Efficient dynamic simulation of an underwater vehicle with a robotic manipulator
In this paper, an efficient dynamic simulation algorithm is developed for an underwater robotic vehicle (URV) with a manipulator. It is based on previous work on efficient O(N) algorithms, where N isExpand
  • 145
  • 5
  • Open Access
High-speed humanoid running through control with a 3D-SLIP model
This paper presents new methods to control highspeed running in a simulated humanoid robot at speeds of up to 6.5 m/s. We present methods to generate compliant target CoM dynamics through the use ofExpand
  • 81
  • 5
  • Open Access
Omnidirectional supervisory control of a multilegged vehicle using periodic gaits
  • W. Lee, D. Orin
  • Engineering, Computer Science
  • IEEE J. Robotics Autom.
  • 1 December 1988
A novel algorithm is described for omnidirectional control of a multilegged robot vehicle using periodic gaits. The vehicle model is chosen from a hexapod robot vehicle, named the Adaptive SuspensionExpand
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