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Numerical integration methods based on the Lie group theoretic geometrical approach are applied to articulated multibody systems with rigid body displacements, belonging to the special Euclidean group SE(3), as a part of generalized coordinates. Three Lie group integrators, the Crouch-Grossman method, commutator-free method, and Munthe-Kaas method, are(More)
— This paper proposes a method to accommodate multiple tasks for redundancy utilization, which is based on a specific weighted pseudo-inverse. The proposed method also has task priority imposition property as those conventional task priority based method. In order to deal with general situations of task specification, the so-called semi-definitely weighted(More)
An online pattern generator for bipedal walking control is designed based on the notion of ZMP preview control using the full dynamics model. The method is called the general ZMP preview control. Conventional implementation by Kajita is based on an approximated table-cart model, which neglects the actual system dynamics. This leads to erroneous ZMP tracking(More)
In order for stable control of humanoid robots, ground contact forces should be properly controlled for compensating the dynamic disturbances caused by unactuated body movement. The stability in the sense of the zero-moment point (ZMP), guaranteeing secure contacts during control, is a necessary condition for stable motion control. Therefore, we propose a(More)
State estimation problem with time delayed measurements is addressed. In dynamic system with noise, after taking measurements, it often requires some time until that is available in a filter. A filter not considering this time delay cannot be used since a current measurement is related with a past state. These delayed measurements problem is solved with(More)