Efficient zmp formulation and effective whole-body motion generation for a human-like mechanism

Joo H. Kim, Yujiang Xiang, Rajankumar Bhatt, Jingzhou Yang, Hyun Joon Chung, Amos Patrick, Jasbir S. Arora, Karim Abdel-Malek

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

Abstract

An approach of generating dynamic biped motions of a humanlike mechanism is proposed. An alternative and efficient formulation of the Zero-Moment Point 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 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; it does not require any input reference from motion capture or animation. The resulting generated motions demonstrate how a human-like mechanism reacts effectively to different external load conditions in performing a given task by showing realistic features of cause and effect. In addition, the energy-optimality of the upright standing posture is numerically verified among infinite feasible static biped postures without self contact. The proposed formulation is beneficial to motion planning, control, and physics-based simulation of humanoids and human models.

Original languageEnglish (US)
Title of host publication2008 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008
Pages1073-1084
Number of pages12
EditionPART B
StatePublished - Nov 23 2009
Event2008 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008 - New York City, NY, United States
Duration: Aug 3 2008Aug 6 2008

Publication series

Name2008 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008
NumberPART B
Volume2

Other

Other2008 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008
CountryUnited States
CityNew York City, NY
Period8/3/088/6/08

Keywords

  • Human-like mechanism
  • Lagrangian dynamics
  • Motion generation
  • Optimization
  • Zero-moment point

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computational Theory and Mathematics
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

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  • Cite this

    Kim, J. H., Xiang, Y., Bhatt, R., Yang, J., Chung, H. J., Patrick, A., Arora, J. S., & Abdel-Malek, K. (2009). Efficient zmp formulation and effective whole-body motion generation for a human-like mechanism. In 2008 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008 (PART B ed., pp. 1073-1084). (2008 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008; Vol. 2, No. PART B).