Dynamics Computation of a Hybrid Multi-link Humanoid Robot Integrating Rigid and Soft Bodies
Taiki Ishigaki,Ko Yamamoto,Taiki Ishigaki,Ko Yamamoto
This study presents dynamics computation and control of a hybrid multi-link system that integrates rigid- and soft-bodies. It is a challenging problem to install a softness in a robot system, which is an important factor in human body. Softness achieved by human muscles and ligaments contributes to dynamic motion. Flexibility of a sports prosthetic leg allows a handicapped person to run. However, ...