Fall initiation criteria for three-dimensional multi-segmental model of biped robot

Chang B. Joo, Joo Hyun Kim

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

Abstract

A biped mechanism can maintain its balance by redirecting the ground reaction force direction and changing the center of pressure location. In this paper, how the variable inertia in a multibody dynamic model is related to those efforts is investigated and fall initiation criteria in three dimensional space, a balanced state manifold is constructed by using a 3D multi-segmental model. The balanced state domain is constructed by iteratively solving nonlinear constrained optimization problems and finding the velocity extrema at given center of mass positions subjected to certain balancing conditions. The constructed balanced state domain of a multisegmental model can be used as fall initiation criteria in 3D space and it demonstrates the better balancing maintenance capability of 3D multi-segmental model than the 3D linear inverted pendulum mode.

Original languageEnglish (US)
Title of host publication38th Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
Volume5B
ISBN (Print)9780791846377
DOIs
StatePublished - 2014
EventASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014 - Buffalo, United States
Duration: Aug 17 2014Aug 20 2014

Other

OtherASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014
CountryUnited States
CityBuffalo
Period8/17/148/20/14

Fingerprint

Biped Robot
Multi-model
Robots
Balancing
Three-dimensional
Multibody Dynamics
Inverted Pendulum
Constrained optimization
Constrained Optimization Problem
Pendulums
Extremum
Barycentre
Nonlinear Optimization
Inertia
Dynamic models
Dynamic Model
Maintenance
Demonstrate
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. (2014). Fall initiation criteria for three-dimensional multi-segmental model of biped robot. In 38th Mechanisms and Robotics Conference (Vol. 5B). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC201434191

Fall initiation criteria for three-dimensional multi-segmental model of biped robot. / Joo, Chang B.; Kim, Joo Hyun.

38th Mechanisms and Robotics Conference. Vol. 5B American Society of Mechanical Engineers (ASME), 2014.

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

Joo, CB & Kim, JH 2014, Fall initiation criteria for three-dimensional multi-segmental model of biped robot. in 38th Mechanisms and Robotics Conference. vol. 5B, American Society of Mechanical Engineers (ASME), ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014, Buffalo, United States, 8/17/14. https://doi.org/10.1115/DETC201434191
Joo CB, Kim JH. Fall initiation criteria for three-dimensional multi-segmental model of biped robot. In 38th Mechanisms and Robotics Conference. Vol. 5B. American Society of Mechanical Engineers (ASME). 2014 https://doi.org/10.1115/DETC201434191
Joo, Chang B. ; Kim, Joo Hyun. / Fall initiation criteria for three-dimensional multi-segmental model of biped robot. 38th Mechanisms and Robotics Conference. Vol. 5B American Society of Mechanical Engineers (ASME), 2014.
@inproceedings{6aed32b9d9de4008adc1789bcc3b5544,
title = "Fall initiation criteria for three-dimensional multi-segmental model of biped robot",
abstract = "A biped mechanism can maintain its balance by redirecting the ground reaction force direction and changing the center of pressure location. In this paper, how the variable inertia in a multibody dynamic model is related to those efforts is investigated and fall initiation criteria in three dimensional space, a balanced state manifold is constructed by using a 3D multi-segmental model. The balanced state domain is constructed by iteratively solving nonlinear constrained optimization problems and finding the velocity extrema at given center of mass positions subjected to certain balancing conditions. The constructed balanced state domain of a multisegmental model can be used as fall initiation criteria in 3D space and it demonstrates the better balancing maintenance capability of 3D multi-segmental model than the 3D linear inverted pendulum mode.",
author = "Joo, {Chang B.} and Kim, {Joo Hyun}",
year = "2014",
doi = "10.1115/DETC201434191",
language = "English (US)",
isbn = "9780791846377",
volume = "5B",
booktitle = "38th Mechanisms and Robotics Conference",
publisher = "American Society of Mechanical Engineers (ASME)",

}

TY - GEN

T1 - Fall initiation criteria for three-dimensional multi-segmental model of biped robot

AU - Joo, Chang B.

AU - Kim, Joo Hyun

PY - 2014

Y1 - 2014

N2 - A biped mechanism can maintain its balance by redirecting the ground reaction force direction and changing the center of pressure location. In this paper, how the variable inertia in a multibody dynamic model is related to those efforts is investigated and fall initiation criteria in three dimensional space, a balanced state manifold is constructed by using a 3D multi-segmental model. The balanced state domain is constructed by iteratively solving nonlinear constrained optimization problems and finding the velocity extrema at given center of mass positions subjected to certain balancing conditions. The constructed balanced state domain of a multisegmental model can be used as fall initiation criteria in 3D space and it demonstrates the better balancing maintenance capability of 3D multi-segmental model than the 3D linear inverted pendulum mode.

AB - A biped mechanism can maintain its balance by redirecting the ground reaction force direction and changing the center of pressure location. In this paper, how the variable inertia in a multibody dynamic model is related to those efforts is investigated and fall initiation criteria in three dimensional space, a balanced state manifold is constructed by using a 3D multi-segmental model. The balanced state domain is constructed by iteratively solving nonlinear constrained optimization problems and finding the velocity extrema at given center of mass positions subjected to certain balancing conditions. The constructed balanced state domain of a multisegmental model can be used as fall initiation criteria in 3D space and it demonstrates the better balancing maintenance capability of 3D multi-segmental model than the 3D linear inverted pendulum mode.

UR - http://www.scopus.com/inward/record.url?scp=84961353188&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84961353188&partnerID=8YFLogxK

U2 - 10.1115/DETC201434191

DO - 10.1115/DETC201434191

M3 - Conference contribution

AN - SCOPUS:84961353188

SN - 9780791846377

VL - 5B

BT - 38th Mechanisms and Robotics Conference

PB - American Society of Mechanical Engineers (ASME)

ER -