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Document type:
Konferenzbeitrag 
Contribution type:
Textbeitrag / Aufsatz 
Author(s):
Abrão S. Marques, Vinicius; Carlos M. Carvalho, João; Pfurner, Martin; Gonçalves, Rogério S.; Husty, Manfred L. 
Title:
Spatial Analysis of Humanoid Robot's Gait Using Dual-Quaternions 
Pages contribution:
73 - 92 
Abstract:
The most common approach used in modeling humanoid robots applies trigonometric expressions and Euler-angles for its description. Some problems of trajectory interpolation and singularity of motion representation are discussed and the dual quaternion representation is used as an alternative to avoid these problems and to obtain the models ensuring a general spatial analysis of the motion trajectory. The aim of this work is to present a different method to model kinematics of humanoid robo...    »
 
Editor:
Lüth, Tim C.; Irlinger, Franz; Abdul-Sater, Kassim 
Book / Congress title:
11. Kolloquium Getriebetechnik 
Organization:
Lehrstuhl für Mikrotechnik und Medizingerätetechnik, TUM 
Date of congress:
28.-30. September 2015 
Year:
2015 
Pages:
20 
Language:
en 
Fulltext / DOI: