Journal article
General Biped Motion and Balance of a Human Model
SAE International journal of passenger cars. Electronic and electrical systems, Vol.1(1), pp.621-629
Digital Human Modeling for Design and Engineering Symposium
06/17/2008
DOI: 10.4271/2008-01-1932
Abstract
We propose an algorithm of predicting dynamic biped motions of Santos™ human model. An alternative and efficient formulation of the Zero-Moment Point (ZMP) 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 the 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 without any input reference from motion capture or animation. The resulting generated motions demonstrate how a human reacts effectively to different external load conditions in performing a given task by showing realistic features of cause and effect.
Details
- Title: Subtitle
- General Biped Motion and Balance of a Human Model
- Creators
- Joo H Kim - University of IowaYujiang Xiang - University of IowaRajan Bhatt - University of IowaJingzhou Yang - University of IowaHyun-Joon Chung - University of IowaAmos Patrick - University of IowaAnith J Mathai - University of IowaJasbir S Arora - University of IowaKarim Abdel-MalekJohn P Obusek - United States Department of the Army
- Resource Type
- Journal article
- Publication Details
- SAE International journal of passenger cars. Electronic and electrical systems, Vol.1(1), pp.621-629
- Conference
- Digital Human Modeling for Design and Engineering Symposium
- Publisher
- SAE International
- DOI
- 10.4271/2008-01-1932
- ISSN
- 1946-4614
- eISSN
- 1946-4622
- Language
- English
- Date published
- 06/17/2008
- Academic Unit
- Iowa Technology Institute; Civil and Environmental Engineering; Roy J. Carver Department of Biomedical Engineering; Mechanical Engineering
- Record Identifier
- 9984195161402771
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