Journal article
GENERATING EFFECTIVE WHOLE-BODY MOTIONS OF A HUMAN-LIKE MECHANISM WITH EFFICIENT ZMP FORMULATION
International Journal of Robotics and Automation, Vol.24(2), pp.125-136
2009
DOI: 10.2316/Journal.206.2009.2.206-3235
Abstract
An optimization-based methodology of generating dynamic biped motions of a human-like mechanism is proposed. An efficient formulation of the zero-moment point (ZMP) for dynamic balance and the ground reaction loads is derived from the resultant reaction loads, which includes the gravity, the applied loads, and the inertia. The optimization problem is formulated to address the redundancy subject to the general biped and task-specific constraints. The proposed method is fully predictive and generates physically feasible human-like motions from scratch without input reference. The generated motions demonstrate how a human-like mechanism reacts effectively to different external load conditions by showing realistic features of causes and effects. In addition, the energy-optimality of the upright biped standing posture is numerically verified.
Details
- Title: Subtitle
- GENERATING EFFECTIVE WHOLE-BODY MOTIONS OF A HUMAN-LIKE MECHANISM WITH EFFICIENT ZMP FORMULATION
- Creators
- J.H Kim - Mechanical and Aerospace EngineeringY Xiang - University of IowaR.M Bhatt - University of IowaJ Yang - Texas Tech UniversityH.-J Chung - University of IowaJ.S Arora - University of IowaK Abdel-Malek
- Resource Type
- Journal article
- Publication Details
- International Journal of Robotics and Automation, Vol.24(2), pp.125-136
- DOI
- 10.2316/Journal.206.2009.2.206-3235
- ISSN
- 1925-7090
- eISSN
- 1925-7090
- Language
- English
- Date published
- 2009
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Mechanical Engineering; Iowa Technology Institute; Civil and Environmental Engineering
- Record Identifier
- 9984195160802771
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