{[ promptMessage ]}

Bookmark it

{[ promptMessage ]}

Kinematics-1 - Movie Segment Passive Walking Tad McGeer...

Info icon This preview shows pages 1–5. Sign up to view the full content.

View Full Document Right Arrow Icon
1 Movie Segment Passive Walking, Tad McGeer, Fraser Univ, British Columbia, ICRA 1991 video proceedings Kinematics • Transformations • Representations Spatial Descriptions • Task Description Manipulator Prismatic Joint Link i Revolute Joint Base End-Effector n moving link 1 fixed link Links: Joints: Revolute (1 DOF) Prismatic (1 DOF) Configuration Parameters A set of position parameters that describes the full configuration of the system. 9 parameters/link Generalized coordinates A set of independent configuration parameters Degrees of Freedom Number of generalized coordinates
Image of page 1

Info icon This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document Right Arrow Icon