Dynamics Computation of Structure-Varying Kinematic Chains for Motion Synthesis of Humanoid

This paper discwwes th,e dynamics computation, oj strw tu,re ml-yang kin, em,dic chains which, amply m,ech,an,icd link systems wh,ose strudwe may ch,ange from open kinematic chain, to C1O,IA one o,n.d vice I) e rs 0,. The proposed dgorith,rn, can, h,an,dle strwiure chtanges in, o, seo,m,kss manm,er u)ith,out MA ch,an,g among rdgorathm,s for dij%ren.t kinematic ch,ain.s. The ,$tr?!,ct?~.re-?)fl.ryin,gkin,em,ottic ch,o,in,s m-e commonly found in computing h,um,an motions. The developed com.p~dation. will provide the jmnw-d dgorith,m, for the computation. of motion and control of htum,o,noid robots and CG h,ummn figures.