Kinematic and kinetic evaluation of a throwing model using motion primitives

Joo Hyun Kim, Dustyn P. Roberts, John Meusch, Salam Rahmatalla

Research output: Contribution to journalArticle

Abstract

A human model of a dynamic overarm throwing motion is evaluated in this work with novel motion primitives including determinants, key frames, and ground reaction force (GRF) profiles. The kinematic and kinetic data of overarm throwing from five subjects are used for motion primitives. The evaluation process uses combined qualitative key frames (picture-based) and quantitative analyses to capture the differences in the experimental and generated throwing motion. The model shows potential application in simulating human-like throwing strategies and humanoid motion planning and control. Significant correlation between the generated and experimental GRFs with R2 = 0.90 and 0.82 were found for the right and left feet, respectively, and the total vertical GRF calculated from the model was approximately equal to the weight of the avatars. The generated right shoulder flexion, shoulder rotation, and right elbow flexion showed near perfect correlation with R2 values larger than 0.90, while the right shoulder abduction, left hip abduction, and left hip rotation showed moderate correlations with R2 values between 0.25 and 0.55. Due to strategy differences, the generated left hip flexion and left knee flexion showed weak correlations with R2 values equal to 0.17 and 0.03, respectively.

Original languageEnglish (US)
Pages (from-to)98-109
Number of pages12
JournalInternational Journal of Robotics and Automation
Volume30
Issue number1
DOIs
StatePublished - Jan 1 2015

Fingerprint

Kinematics
Kinetics
Abduction
Motion
Evaluation
Motion control
Motion planning
Approximately equal
Avatar
Motion Planning
Motion Control
Model
Determinant
Vertical
Human
Strategy

Keywords

  • Inverse kinematics
  • Key frames
  • Motion determinants
  • Motion primitives
  • Optimization
  • Overarm throw

ASJC Scopus subject areas

  • Software
  • Electrical and Electronic Engineering
  • Modeling and Simulation
  • Control and Systems Engineering
  • Mechanical Engineering
  • Artificial Intelligence

Cite this

Kinematic and kinetic evaluation of a throwing model using motion primitives. / Kim, Joo Hyun; Roberts, Dustyn P.; Meusch, John; Rahmatalla, Salam.

In: International Journal of Robotics and Automation, Vol. 30, No. 1, 01.01.2015, p. 98-109.

Research output: Contribution to journalArticle

Kim, Joo Hyun ; Roberts, Dustyn P. ; Meusch, John ; Rahmatalla, Salam. / Kinematic and kinetic evaluation of a throwing model using motion primitives. In: International Journal of Robotics and Automation. 2015 ; Vol. 30, No. 1. pp. 98-109.
@article{8aac71badb5f4f989d9397e2051c946a,
title = "Kinematic and kinetic evaluation of a throwing model using motion primitives",
abstract = "A human model of a dynamic overarm throwing motion is evaluated in this work with novel motion primitives including determinants, key frames, and ground reaction force (GRF) profiles. The kinematic and kinetic data of overarm throwing from five subjects are used for motion primitives. The evaluation process uses combined qualitative key frames (picture-based) and quantitative analyses to capture the differences in the experimental and generated throwing motion. The model shows potential application in simulating human-like throwing strategies and humanoid motion planning and control. Significant correlation between the generated and experimental GRFs with R2 = 0.90 and 0.82 were found for the right and left feet, respectively, and the total vertical GRF calculated from the model was approximately equal to the weight of the avatars. The generated right shoulder flexion, shoulder rotation, and right elbow flexion showed near perfect correlation with R2 values larger than 0.90, while the right shoulder abduction, left hip abduction, and left hip rotation showed moderate correlations with R2 values between 0.25 and 0.55. Due to strategy differences, the generated left hip flexion and left knee flexion showed weak correlations with R2 values equal to 0.17 and 0.03, respectively.",
keywords = "Inverse kinematics, Key frames, Motion determinants, Motion primitives, Optimization, Overarm throw",
author = "Kim, {Joo Hyun} and Roberts, {Dustyn P.} and John Meusch and Salam Rahmatalla",
year = "2015",
month = "1",
day = "1",
doi = "10.2316/Journal.206.2015.1.206-4280",
language = "English (US)",
volume = "30",
pages = "98--109",
journal = "International Journal of Robotics and Automation",
issn = "0826-8185",
publisher = "ACTA Press",
number = "1",

}

TY - JOUR

T1 - Kinematic and kinetic evaluation of a throwing model using motion primitives

AU - Kim, Joo Hyun

AU - Roberts, Dustyn P.

AU - Meusch, John

AU - Rahmatalla, Salam

PY - 2015/1/1

Y1 - 2015/1/1

N2 - A human model of a dynamic overarm throwing motion is evaluated in this work with novel motion primitives including determinants, key frames, and ground reaction force (GRF) profiles. The kinematic and kinetic data of overarm throwing from five subjects are used for motion primitives. The evaluation process uses combined qualitative key frames (picture-based) and quantitative analyses to capture the differences in the experimental and generated throwing motion. The model shows potential application in simulating human-like throwing strategies and humanoid motion planning and control. Significant correlation between the generated and experimental GRFs with R2 = 0.90 and 0.82 were found for the right and left feet, respectively, and the total vertical GRF calculated from the model was approximately equal to the weight of the avatars. The generated right shoulder flexion, shoulder rotation, and right elbow flexion showed near perfect correlation with R2 values larger than 0.90, while the right shoulder abduction, left hip abduction, and left hip rotation showed moderate correlations with R2 values between 0.25 and 0.55. Due to strategy differences, the generated left hip flexion and left knee flexion showed weak correlations with R2 values equal to 0.17 and 0.03, respectively.

AB - A human model of a dynamic overarm throwing motion is evaluated in this work with novel motion primitives including determinants, key frames, and ground reaction force (GRF) profiles. The kinematic and kinetic data of overarm throwing from five subjects are used for motion primitives. The evaluation process uses combined qualitative key frames (picture-based) and quantitative analyses to capture the differences in the experimental and generated throwing motion. The model shows potential application in simulating human-like throwing strategies and humanoid motion planning and control. Significant correlation between the generated and experimental GRFs with R2 = 0.90 and 0.82 were found for the right and left feet, respectively, and the total vertical GRF calculated from the model was approximately equal to the weight of the avatars. The generated right shoulder flexion, shoulder rotation, and right elbow flexion showed near perfect correlation with R2 values larger than 0.90, while the right shoulder abduction, left hip abduction, and left hip rotation showed moderate correlations with R2 values between 0.25 and 0.55. Due to strategy differences, the generated left hip flexion and left knee flexion showed weak correlations with R2 values equal to 0.17 and 0.03, respectively.

KW - Inverse kinematics

KW - Key frames

KW - Motion determinants

KW - Motion primitives

KW - Optimization

KW - Overarm throw

UR - http://www.scopus.com/inward/record.url?scp=84925326503&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84925326503&partnerID=8YFLogxK

U2 - 10.2316/Journal.206.2015.1.206-4280

DO - 10.2316/Journal.206.2015.1.206-4280

M3 - Article

VL - 30

SP - 98

EP - 109

JO - International Journal of Robotics and Automation

JF - International Journal of Robotics and Automation

SN - 0826-8185

IS - 1

ER -