C-1 Whole Body Inverse Dynamics Based on Jourdain's Principle

Abstract

This paper discusses multibody dynamics of serial link structure based on Jourdain's principle. The advantage of this method is based on differential geometry described by Jacobian matrices relating joint velocities and generalized ones without using angle definition of each segment. The method which utilize the velocity constraint and independently described generalized forces are suitable for understanding the physical meaning of whole body human movement.