Contribution to the dynamic study of humanoid robots interacting with dynamic environment

摘要

The questions when and why one needs to use mathematical models, and especially the models of dynamics, represent still an unresolved issue. A general answer would be that dynamic modelling is needed as a tool when designing structure of the system and its control unit. In this case we talk about simulation. The other application is in on-line control of the system - the so-called dynamic control. While in simulation one generally uses the best available model, the control can be based on a reduced dynamics, depending on a particular task. The aim of this paper was to highlight the problems important for the dynamics of humanoids and their dynamic environment.