Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Abstract#R##N##R##N#Analytical techniques are presented for the motion planning and control of a 12 degree-of-freedom biped walking machine. From the Newton-Euler equations, joint torques are obtained in terms of joint trajectories, and the inverse dynamics are developed for both the single-support and double-support cases. Physical admissibility of the biped trajectory is characterized in terms of the equivalent force-moment and zero-moment point. This methodology has been used to obtain reference inputs and implement the feedforward control of walking robots. A simulation example illustrates the application of the techniques to plan the forward-walking trajectory of the biped robot. The implementation of a prototype mechanism and controller is also described.
['Ching-Long Shih', 'W.A. Gruver', 'Tsu-Tian Lee']
I am writing a research paper on a idea Inverse kinematics and inverse dynamics for control of a biped walking machine
[{"from": "human", "value": "I am writing a research paper on a idea Inverse kinematics and inverse dynamics for control of a biped walking machine"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Abstract#R##N##R##N#Analytical techniques are presented for the motion planning and control of a 12 degree-of-freedom biped walking machine. From the Newton-Euler equations, joint torques are obtained in terms of joint trajectories, and the inverse dynamics are developed for both the single-support and double-support cases. Physical admissibility of the biped trajectory is characterized in terms of the equivalent force-moment and zero-moment point. This methodology has been used to obtain reference inputs and implement the feedforward control of walking robots. A simulation example illustrates the application of the techniques to plan the forward-walking trajectory of the biped robot. The implementation of a prototype mechanism and controller is also described."}]