仿人机器人与传统机械臂对比
Common Point with manipulator robot | Main difference | |
---|---|---|
dynamic model | be view as a tree structure;Parameterisation with frame attached to each body and matrix of transformation | manipulator using the same model all the time;walking robot model different phases using different model |
contact with the ground | always fixed in ground | Intermittent contact with the ground |
Inverse dynamic modelling | same for L and NE | Reaction force from the ground must be ca |