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• W2000327377 abstract "Based on the screw product exponentials formula and space Jacobi matrix, a general iterative algorithm on inverse kinematics is proposed for humanoid upper body system. First the screw coordinate is built for the system and forward kinematics equation is established. Then the inverse kinematics problem of the system is solved based on the Newton-Raphson iterative method. The results of numerical simulations verify the correctness and effectiveness of the proposed algorithm." @default.
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• W2000327377 date "2014-06-01" @default.
• W2000327377 modified "2023-09-26" @default.
• W2000327377 title "Kinematics computation method study for a humanoid upper body system" @default.
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• W2000327377 doi "https://doi.org/10.1109/iciea.2014.6931526" @default.
• W2000327377 hasPublicationYear "2014" @default.
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