Conference proceeding
Optimal Throwing Motion Planning for a Biped Human Mechanism
Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, Vol.7, pp.929-936
ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, San Diego, California, USA, Aug. 30 - Sept. 02, 2009
01/01/2009
DOI: 10.1115/DETC2009-87513
Abstract
An optimal motion planning formulation of throwing for a biped human mechanism is proposed as an extension of a previous study. The unique characteristics of the throwing task—highly redundant, highly nonlinear, and highly dynamic—are addressed in this presentation within the framework of multibody dynamics and optimization. To generate physically feasible throwing motions in a fully predictive method without input reference, rigorous dynamic models are associated with the constraints. Given the target location and the object mass, the algorithm outputs the motion, required actuator torques, release parameters, balance criterion, and ground reaction forces. Overarm and sidearm throwing motions are generated as optimal solutions, which demonstrate valid kinematic and kinetic cause-effect relations.
Details
- Title: Subtitle
- Optimal Throwing Motion Planning for a Biped Human Mechanism
- Creators
- Joo H Kim - University of IowaYujiang Xiang - University of IowaJingzhou James Yang - Texas Tech UniversityKarim Abdel-Malek - University of IowaJasbir S Arora - University of Iowa
- Resource Type
- Conference proceeding
- Publication Details
- Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, Vol.7, pp.929-936
- Conference
- ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, San Diego, California, USA, Aug. 30 - Sept. 02, 2009
- DOI
- 10.1115/DETC2009-87513
- Publisher
- ASMEDC
- Language
- English
- Date published
- 01/01/2009
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Civil and Environmental Engineering; Mechanical Engineering
- Record Identifier
- 9984195164402771
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