inverse dynamics


Also found in: Wikipedia.

inverse dynamics

the calculation of forces and moments by using kinematics and data for mass and moment of inertia, effectively using Newton's second law of motion (f = ma) in reverse.
References in periodicals archive ?
Vertical jumps in a turnout (TJ) and a neutral hip position (NJ) performed by 12 classical female ballet dancers were analysed through motion capture, recording of the ground reaction forces, and inverse dynamics analysis.
Actuator torques needed to achieve desired motion are computed using inverse dynamics.
Acceleration of the CM, and therefore net force, can be obtained using the inverse dynamics approach defined by Whittlesey and Robertson (2004) as 'the process by which forces and moments of force are indirectly determined from the kinematics and and inertial properties of moving bodies'.
The author has organized the main body of his text in nine chapters the devoted to the vector loop method of kinematic analysis, rolling contacts in kinematic analysis, kinematic coefficients, the inverse dynamics problem in machine dynamics, joint friction in machine dynamics, the power equation, and a wide variety of other related subjects.
The algorithm that my group at the University of Texas at Austin has developed is called Whole-Body Operational Space Control (WBOSC) and at its core, it uses floating base inverse dynamics as the robot model.
For our work we have used feed-forward control of the robot drives with compensation of the torque calculated by inverse dynamics network.
Durango (2007), Marghitu & Crocker (2001) and Brat & Lederer (1973) present GP methods for inverse dynamics based on kinematic units where the friction in joints is assumed to be negligible.
Because of this approach, an inverse dynamics simulation using passive recording muscles is required prior to simulation with closed-loop muscles.
This study involved using inverse dynamics to calculate the forces exerted by bipedal jerboas when jumping vertically, as well as the relative contributions of individual muscles and tendons to the jump.
Traditional methods to quantify a compensatory movement strategy include kinematic analysis and an inverse dynamics approach [11-13].
The topics covered include simultaneous localization and map building, kinematic and dynamic equations for a space robot, a finite element method solution scheme for controlling inverse dynamics, a "Neuro-Fuzzy" system for the detection and classification of horizontal traffic signs, a biological inspired swarm intelligence based coordination algorithm for multi-robot systems, a robotics architecture for mobile service robots, and a prototype robotic system designed for playing the game of pool.
In considering the inverse dynamics equations, the underestimation of segment mass results in errors when calculating net joint forces, due to the large force created from acceleration of the segment.
Full browser ?