Criteria and motion generation for multi-segmental legged balancing

Chang B. Joo, Joo Hyun Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper investigates the effect of upper body on balancing by comparing balanced state domain in the phase space. Biped mechanism is simplified to multi-segment model which consists of one stance foot, leg, and upper body in sagittal plane. System parameters such as link mass and link length are chosen appropriately based on human anthropometry data. In addition to the system parameters, the necessary and sufficient conditions for balancing are implemented as constraints. Proposed algorithm iteratively solves nonlinear constrained optimization problem to find velocity extrema for a given set of joint variables and a maximum actuation torque. The balanced state domain of an actively controlled swinging arm demonstrates larger domain compared to the domain without swinging arm. While similar results are shown by other various approaches, the proposed algorithm demonstrates identification of the balanced state domain in a deterministic scheme using numerical optimization.

Original languageEnglish (US)
Title of host publicationASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012
Pages919-926
Number of pages8
Volume4
EditionPARTS A AND B
DOIs
StatePublished - 2012
EventASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012 - Chicago, IL, United States
Duration: Aug 12 2012Aug 12 2012

Other

OtherASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012
CountryUnited States
CityChicago, IL
Period8/12/128/12/12

Fingerprint

Balancing
Anthropometry
Motion
Constrained optimization
Torque
Numerical Optimization
Constrained Optimization Problem
Extremum
Nonlinear Optimization
Demonstrate
Phase Space
Necessary Conditions
Sufficient Conditions
Model

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation

Cite this

Joo, C. B., & Kim, J. H. (2012). Criteria and motion generation for multi-segmental legged balancing. In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012 (PARTS A AND B ed., Vol. 4, pp. 919-926) https://doi.org/10.1115/DETC2012-71360

Criteria and motion generation for multi-segmental legged balancing. / Joo, Chang B.; Kim, Joo Hyun.

ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012. Vol. 4 PARTS A AND B. ed. 2012. p. 919-926.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Joo, CB & Kim, JH 2012, Criteria and motion generation for multi-segmental legged balancing. in ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012. PARTS A AND B edn, vol. 4, pp. 919-926, ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012, Chicago, IL, United States, 8/12/12. https://doi.org/10.1115/DETC2012-71360
Joo CB, Kim JH. Criteria and motion generation for multi-segmental legged balancing. In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012. PARTS A AND B ed. Vol. 4. 2012. p. 919-926 https://doi.org/10.1115/DETC2012-71360
Joo, Chang B. ; Kim, Joo Hyun. / Criteria and motion generation for multi-segmental legged balancing. ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012. Vol. 4 PARTS A AND B. ed. 2012. pp. 919-926
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