Conference proceeding
Modeling Dual-Arm Coordination for Posture: An Optimization-Based Approach
SAE Technical Paper Series
Digital Human Modeling for Design and Engineering Symposium, 2005
06/14/2005
DOI: 10.4271/2005-01-2686
Abstract
In the field of human modeling, there is an increasing demand for predicting human postures in real time. However, there has been minimal progress with methods that can incorporate multiple limbs with shared degrees of freedom (DOFs). This paper presents an optimization-based approach for predicting postures that involve dual-arm coordination with shared DOFs, and applies this method to a 30-DOF human model. Comparisons to motion capture data provide experimental validation for these examples. We show that this optimization-based approach allows dual-arm coordination with minimal computational cost. This new approach also easily extends to models with a higher number of DOFs and additional end-effectors.
Details
- Title: Subtitle
- Modeling Dual-Arm Coordination for Posture: An Optimization-Based Approach
- Creators
- Kimberly Farrell - University of IowaTimothy Marler - University of IowaKarim Abdel-Malek
- Resource Type
- Conference proceeding
- Conference
- Digital Human Modeling for Design and Engineering Symposium, 2005
- Series
- SAE Technical Paper Series
- DOI
- 10.4271/2005-01-2686
- ISSN
- 0148-7191
- eISSN
- 2688-3627
- Language
- English
- Date published
- 06/14/2005
- Academic Unit
- Mechanical Engineering; Roy J. Carver Department of Biomedical Engineering
- Record Identifier
- 9984196537002771
Metrics
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