Conference proceeding
Throwing motion generation of a biped human model
2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, pp.587-592
10/2008
DOI: 10.1109/BIOROB.2008.4762900
Abstract
Throwing motion is a complicated whole-body movement. The kinematics and dynamics of throwing have been analyzed and simulated in the literature mostly from the experimental measurements such as motion capture. In this presentation, the overarm throwing motion of a 55 degree-of-freedom biped human model is generated from multibody dynamics and optimization. The whole-body dynamic balance is maintained during the motion through an efficient Zero-Moment Point formulation. The proposed method is completely predictive and no input reference motion is required. As outputs, the generated motion and the required actuator torques are calculated. The results show dynamically feasible human motion of throwing in a physics-based simulation environment.
Details
- Title: Subtitle
- Throwing motion generation of a biped human model
- Creators
- Joo H Kim - University of IowaYujiang Xiang - University of IowaRajankumar Bhatt - University of IowaJingzhou Yang - Texas Tech UniversityJasbir S Arora - University of IowaKarim Abdel-Malek - University of Iowa
- Resource Type
- Conference proceeding
- Publication Details
- 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, pp.587-592
- Publisher
- IEEE
- DOI
- 10.1109/BIOROB.2008.4762900
- ISSN
- 2155-1774
- eISSN
- 2155-1782
- Language
- English
- Date published
- 10/2008
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Mechanical Engineering; Iowa Technology Institute; Civil and Environmental Engineering
- Record Identifier
- 9984196505202771
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