Mathematical models of general anthropomorphic systems

Abstract

The paper describes the bases of the new approach in the synthesis of the artificial legged and anthropomorphic gait, in particular. In detail there has been described the concept of prescribed synergy which in the authors' opinion gives great possibilities for treating realistically the legged systems locomotion. There is also given a new algorithm that makes it possible to form automatically (by a computer) the mathematical models of anthropomorphic mechanisms of general configurations. The method is a general one and can be applied with equal success to both the analysis and synthesis of mechanical configurations that correspond to the manipulators. © 1973.