Journal article
Planning load-effective dynamic motions of highly articulated human model for generic tasks
Robotica, Vol.27(5), pp.739-747
2009
DOI: 10.1017/S0263574708005110
Abstract
The robotic motion planning criteria has evolved from kinematics to dynamics in recent years. Many research achievements have been made in dynamic motion planning, but the externally applied loads are usually limited to the gravity force. Due to the increasing demand for generic tasks, the motion should be generated for various functions such as pulling, pushing, twisting, and bending. In this paper, a comprehensive form of equations of motion, which includes the general external loads applied at any point of branched tree structures, is implemented. An optimization-based algorithm is then developed to generate load-effective motions of redundant tree-structured systems for generic tasks. A highly articulated dual-arm human model is used to generate different effective motions to sustain different external load magnitudes. The results also provide a new scientific insight of human motion. © 2008 Cambridge University Press.
Details
- Title: Subtitle
- Planning load-effective dynamic motions of highly articulated human model for generic tasks
- Creators
- Joo H Kim - University of IowaJingzhou Yang - Texas Tech UniversityKarim Abdel-Malek - University of Iowa
- Resource Type
- Journal article
- Publication Details
- Robotica, Vol.27(5), pp.739-747
- Publisher
- Cambridge University Press
- DOI
- 10.1017/S0263574708005110
- ISSN
- 0263-5747
- eISSN
- 1469-8668
- Number of pages
- 9
- Language
- English
- Date published
- 2009
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Mechanical Engineering
- Record Identifier
- 9984196539402771
Metrics
9 Record Views