Abstract
The goal of this chapter and the following is to obtain building blocks that can be used to construct mathematical models of the mechanical behavior of general walking robots. This chapter contains the necessary ingredients for the description of mechanisms comprised of a finite number of rigid links interconnected by ideal joints, possibly moving freely in space. Chapter 3 discusses models for collisions and contact of rigid mechanisms with their environment.
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© 2009 Springer-Verlag Berlin Heidelberg
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Duindam, V., Stramigioli, S. (2009). Modeling of Rigid Mechanisms. In: Modeling and Control for Efficient Bipedal Walking Robots. Springer Tracts in Advanced Robotics, vol 53. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-89918-1_2
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DOI: https://doi.org/10.1007/978-3-540-89918-1_2
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-89917-4
Online ISBN: 978-3-540-89918-1
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