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AbsfmctThis paper describes an efficient dynamic simulation of a humanoid robot. In the simulation, an order n formulation is used to solve the inverse dynamics and forward dynamics of a multi-body system. The formulation can deal with a tree structure and multiple contacts with the environment. In order to simulate a collision with friction between the(More)
When a human needs to apply a large force to an environment, the human takes an appropriate posture to produce a large manipulation force. This paper discusses appropriate working postures for a humanoid robot to apply a force effectively to an environment. An objective function is defined and the sequential quadratic programming (SQP) is used to find a(More)
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