Decoupled closed-form solution for humanoid lower limb kinematics

Artículo

Registro en:

1024123X

10.1155/2015/437979

http://hdl.handle.net/11285/630614

2015

https://repositorioslatinoamericanos.uchile.cl/handle/2250/4206584

Autor

Ernesto Rodríguez Leal

Rogelio Soto Rodríguez

José Luis Gordillo Moscoso

Leonardo Garrido Luna

Institución

Instituto Tecnológico de Monterrey (México)

Materias

Anthropomorphic robots

Analytical results

Closed form solutions

Co-ordinate system

D-H transformations

Geometric approaches

Kinematic Analysis

Position and orientations

Transformation matrices

Linear transformations

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