Double dynamic modelling and computed-torque control of a biped robot

@inproceedings{Chaillet1994DoubleDM,
  title={Double dynamic modelling and computed-torque control of a biped robot},
  author={Nicolas Chaillet and Gabriel Abba and Eric P. Ostertag},
  booktitle={IROS},
  year={1994}
}
In this paper, we present a method f o r robots modelling called "double dynamic modelling". This method i s based on a improvement of the classic dynamic model which takes into account the gear trains included in the robot axes, especially the gear yields and the direction of power transmission in the gears. According t o this direction the dynamic model… CONTINUE READING