Conference proceeding
Efficient ZMP Formulation and Effective Whole-Body Motion Generation for a Human-Like Mechanism
Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, Vol.2, pp.1073-1084
International Design Engineering Technical Conference (Brooklyn, New York, NY, 08/03/2008–08/06/2008)
01/01/2008
DOI: 10.1115/DETC2008-49925
Abstract
An approach of generating dynamic biped motions of a human-like mechanism is proposed. An alternative and efficient formulation of the Zero-Moment Point for dynamic balance and the approximated ground reaction forces/moments are derived from the resultant reaction loads, which includes the gravity, the externally applied loads, and the inertia. The optimization problem is formulated to address the redundancy of the human task, where the general biped and task-specific constraints are imposed depending on the task requirements. The proposed method is fully predictive and generates physically feasible human-like motions from scratch; it does not require any input reference from motion capture or animation. The resulting generated motions demonstrate how a human-like mechanism reacts effectively to different external load conditions in performing a given task by showing realistic features of cause and effect. In addition, the energy-optimality of the upright standing posture is numerically verified among infinite feasible static biped postures without self contact. The proposed formulation is beneficial to motion planning, control, and physics-based simulation of humanoids and human models.
Details
- Title: Subtitle
- Efficient ZMP Formulation and Effective Whole-Body Motion Generation for a Human-Like Mechanism
- Creators
- Joo H Kim - University of IowaYujiang Xiang - University of IowaRajankumar Bhatt - University of IowaJingzhou Yang - University of IowaHyun-Joon Chung - University of IowaAmos Patrick - University of IowaJasbir S Arora - University of IowaKarim Abdel-Malek - University of Iowa
- Resource Type
- Conference proceeding
- Publication Details
- Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, Vol.2, pp.1073-1084
- Conference
- International Design Engineering Technical Conference (Brooklyn, New York, NY, 08/03/2008–08/06/2008)
- DOI
- 10.1115/DETC2008-49925
- Publisher
- ASMEDC
- Language
- English
- Date published
- 01/01/2008
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Civil and Environmental Engineering; Iowa Technology Institute; Mechanical Engineering
- Record Identifier
- 9984204106902771
Metrics
40 Record Views