miguelgfierro / hoap3_dynamics

Forward and inverse dynamics for the humanoid HOAP-3

Dynamic algorithms for the humanoid HOAP-3

Code of my Master Thesis (can be found in docs and it is written in Spanish).

I studied the equation of motion of a humanoid robot. It relates the torques that appear in the robots joints with their accelerations, taking into account the masses, inertias and kinematic model of the robot.

I implemented several algorithms to obtain the forward and inverse dynamics using the Featherstone's approach of spatial algebra.

For more information please visit my blog or my youtube channel.

hoap3_dynamics's Issues

The mass properties of the HOAP3

Hello! I am learning the dynamics of robots using your code. Thank you so much!
However, I find it difficult to understand the mass properties of multi-freedom joints.
I can understand you stimulated it by a chain of single-freedom joints, but why every joints has its own mass properties really confuses me.
In Robot Dynamics Algorithms by Roy Featherstone, it says the introduction of fictitious links with zero inertia can cause numerical problems. And I can't figure out how to give those fictitious links non-zero mass/inertia.
The manual just give the results. But I don't know how to resolve them on my own!
Could you please help me? Thanks a lot!!!!!!