https://github.com/miguelgfierro/hoap3_dynamics

Forward and inverse dynamics for the humanoid HOAP-3
https://github.com/miguelgfierro/hoap3_dynamics

Last synced: about 1 month ago
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Forward and inverse dynamics for the humanoid HOAP-3

• Host: GitHub
• URL: https://github.com/miguelgfierro/hoap3_dynamics
• Owner: miguelgfierro
• Created: 2015-12-19T19:33:05.000Z (almost 9 years ago)
• Default Branch: master
• Last Pushed: 2015-12-24T09:55:54.000Z (almost 9 years ago)
• Last Synced: 2023-03-18T00:25:18.631Z (over 1 year ago)
• Language: C++
• Homepage: http://miguelgfierro.com
• Size: 21.1 MB
• Stars: 1
• Watchers: 1
• Forks: 2
• Open Issues: 1
• Metadata Files:
  • Readme: README.md

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README

        
# Dynamic algorithms for the humanoid HOAP-3

Code of my Master Thesis (can be found in docs and it is written in Spanish). 

I studied the [equation of motion](https://en.wikipedia.org/wiki/Equations_of_motion) of a humanoid robot. It relates the torques that appear in the robots joints with their accelerations, taking into account the masses, inertias and kinematic model of the robot. 

I implemented several algorithms to obtain the forward and inverse dynamics using the Featherstone's approach of spatial algebra. 

For more information please visit my [blog](http://miguelgfierro.com) or my [youtube channel](https://www.youtube.com/user/ciruselvirus).