An inverse functional approach for motion coordination of hyper-redundant articulated systems

In this article an inverse functional approach for the motion coordination of hyper-redundant systems is presented. In particular, the approach is exemplified for the posture optimization of articulated systems under a framework conducing to the fast and efficient computation of inverse continuous time-variant functions. A novel approach for balance/posture optimization of articulated models is also presented. The approach consists on establishing some characterizing matrices, representing some geometrical concepts in order to obtain a simple performance index and a space vector for balance/posture optimization.