Inverse kinematics and inverse dynamics for control of a biped walking machine.

Ching-Long Shih William A. Gruver Tsu-Tian Lee

Published in: J. Field Robotics (1993)

Keyphrases

inverse kinematics
inverse dynamics
robot manipulators
end effector
biped walking
robot arm
parallel manipulator
position and orientation
control system
joint angles
degrees of freedom
control strategy
control scheme