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Dynamic algorithms for the humanoid HOAP-3

Code of my Master Thesis (can be found in docs and it is written in Spanish).

I studied the equation of motion of a humanoid robot. It relates the torques that appear in the robots joints with their accelerations, taking into account the masses, inertias and kinematic model of the robot.

I implemented several algorithms to obtain the forward and inverse dynamics using the Featherstone's approach of spatial algebra.

For more information please visit my blog or my youtube channel.

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Forward and inverse dynamics for the humanoid HOAP-3

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