This article presents a new approach to the problem of determining the minimum set of
inertial parameters of robots. The calculation is based on numerical QR and SVD …

As the use and relevance of robotics for countless scientific purposes grows all the time,
research into the many diverse elements of the subject becomes ever more important and in …

This paper presents the software package SYMORO+ for the automatic symbolic modelling
of robots. This package permits to generate the direct geometric model, the inverse …

In this work, we study computer simulations of simple biped models with no actuation except
gravity, and no control. These so-called passive-dynamic models of human gait were first …

This paper presents the method for identification of the dynamic parameters and coefficients
of friction of planar robots. The dynamic equations of the robot are directly differentiated in …

This paper deals with the problem of identifying the inertia parameters of a manipulator. We
begin by introducing the terminology of minimal linear combinations (MLC's) of the inertia …

Dynamic equations of motion require a large number of parameters for each element of the
system. These can include for each part their mass, location of center of mass, moment of …

This article presents a method to determine minimum dynamics parameters of tree structure
robots. The minimum dynamics parameters were defined as a minimum set of constant …

This paper presents a new computational algorithm of the model-based adaptive
manipulator control, adopting the basic method proposed by Slotine and Li (1987). The …

La fabrication d'une voiture, depuis les premières ébauches jusqu'à sa commercialisation,
suit un processus long et jalonné de plusieurs grandes étapes. Il faut tout d'abord concevoir …