A robust approach for the control of the center of mass with inverse kinetics

Abstract

In this paper we extend the range of inverse kinematics by integrating mass distribution information to embody the position control of the center of gravity of any articulated figure in single support (open tree structure). The underlying control architecture of main and secondary behaviors (or tasks) is used to associate this new approach to other… (More)
DOI: 10.1016/S0097-8493(96)00043-X

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@article{Boulic1996ARA, title={A robust approach for the control of the center of mass with inverse kinetics}, author={Ronan Boulic and Ramon Mas and Daniel Thalmann}, journal={Computers & Graphics}, year={1996}, volume={20}, pages={693-701} }