Planning load-effective dynamic motions of highly articulated human model for generic tasks

Authors:
Joo h. Kim;Jingzhou Yang;Karim Abdel-malek
Affiliations:
U.s. army virtual soldier research program, center for computer-aided design, the university of iowa, iowa city, ia 52242, usa.;Department of mechanical engineering, texas tech university, lubbock, tx 79409, usa.;U.s. army virtual soldier research program, center for computer-aided design, the university of iowa, iowa city, ia 52242, usa.
Venue:
Robotica
Year:
2009

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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.