TY - GEN
T1 - Matrix differential expression with application in biped robot
AU - Xin, Hongbing
AU - Huang, Qiang
PY - 2010
Y1 - 2010
N2 - On the basis of analyzing matrix differential expression, the tensor differential and the method for matrix differential based on the matrix vectorization in sequence of columns(vec-vecc) presented by Magnus are introduces firstly, then the method of the sum of Hadamard product that meets chain rule and the method for matrix differential based on the matrix vectorization in sequence of rows(vecr) are established, by applying the vecr method, the derivatives relative to screw axis error, axis position error or rotation angle error and pitch error etc. of twists with pitch h=0, ∞ and finite value and the configuration of a biped robot leg with 6 degrees of freedom are deduced.
AB - On the basis of analyzing matrix differential expression, the tensor differential and the method for matrix differential based on the matrix vectorization in sequence of columns(vec-vecc) presented by Magnus are introduces firstly, then the method of the sum of Hadamard product that meets chain rule and the method for matrix differential based on the matrix vectorization in sequence of rows(vecr) are established, by applying the vecr method, the derivatives relative to screw axis error, axis position error or rotation angle error and pitch error etc. of twists with pitch h=0, ∞ and finite value and the configuration of a biped robot leg with 6 degrees of freedom are deduced.
UR - https://www.scopus.com/pages/publications/79952951490
U2 - 10.1109/ROBIO.2010.5723327
DO - 10.1109/ROBIO.2010.5723327
M3 - Conference contribution
AN - SCOPUS:79952951490
SN - 9781424493173
T3 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
SP - 202
EP - 206
BT - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
PB - IEEE Computer Society
ER -