Conference proceeding
A Robust Formulation for Prediction of Human Running
SAE Technical Paper Series
Digital Human Modeling Conference, 2007
06/12/2007
DOI: 10.4271/2007-01-2490
Abstract
A method to simulate digital human running using an optimization-based approach is presented. The digital human is considered as a mechanical system that includes link lengths, mass moments of inertia, joint torques, and external forces. The problem is formulated as an optimization problem to determine the joint angle profiles. The kinematics analysis of the model is carried out using the Denavit-Hartenberg method. The B-spline approximation is used for discretization of the joint angle profiles, and the recursive formulation is used for the dynamic equilibrium analysis. The equations of motion thus obtained are treated as equality constraints in the optimization process. With this formulation, a method for the integration of constrained equations of motion is not required. This is a unique feature of the present formulation and has advantages for the numerical solution process. The formulation also offers considerable flexibility for simulating different running conditions quite routinely. The zero moment point (ZMP) constraint during the foot support phase is imposed in the optimization problem. The proposed approach works quite well, and several realistic simulations of human running are generated.
Details
- Title: Subtitle
- A Robust Formulation for Prediction of Human Running
- Creators
- Hyun-Joon Chung - University of IowaYujiang Xiang - University of IowaAnith Mathai - University of IowaSalam Rahmatalla - University of IowaJoo Kim - University of IowaTimothy Marler - University of IowaSteve Beck - University of IowaJingzhou Yang - University of IowaJasbir Arora - University of IowaKarim Abdel-MalekJohn Obusek - United States Department of the Army
- Resource Type
- Conference proceeding
- Conference
- Digital Human Modeling Conference, 2007
- Series
- SAE Technical Paper Series
- DOI
- 10.4271/2007-01-2490
- ISSN
- 0148-7191
- eISSN
- 2688-3627
- Language
- English
- Date published
- 06/12/2007
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Civil and Environmental Engineering; Injury Prevention Research Center; Mechanical Engineering
- Record Identifier
- 9984196555302771
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