Optimal throwing motion planning for a biped human mechanism

Joo Hyun Kim, Yujiang Xiang, Jingzhou Yang, Karim Abdel-Malek, Jasbir S. Arora

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

Abstract

An optimal motion planning formulation of throwing for a biped human mechanism is proposed as an extension of a previous study. The unique characteristics of the throwing task-highly redundant, highly nonlinear, and highly dynamic-are addressed in this presentation within the framework of multibody dynamics and optimization. To generate physically feasible throwing motions in a fully predictive method without input reference, rigorous dynamic models are associated with the constraints. Given the target location and the object mass, the algorithm outputs the motion, required actuator torques, release parameters, balance criterion, and ground reaction forces. Overarm and sidearm throwing motions are generated as optimal solutions, which demonstrate valid kinematic and kinetic cause-effect relations.

Original languageEnglish (US)
Title of host publicationASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009
Pages929-936
Number of pages8
Volume7
EditionPARTS A AND B
DOIs
StatePublished - 2009
EventASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009 - San Diego, CA, United States
Duration: Aug 30 2009Sep 2 2009

Other

OtherASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009
CountryUnited States
CitySan Diego, CA
Period8/30/099/2/09

Fingerprint

Motion Planning
Motion planning
Motion
Dynamic models
Kinematics
Multibody Dynamics
Actuators
Torque
Kinetics
Actuator
Dynamic Model
Optimal Solution
Valid
Target
Optimization
Formulation
Output
Demonstrate
Human

Keywords

  • Dynamics
  • Motion planning
  • Optimization
  • Throwing
  • Zero-Moment Point

ASJC Scopus subject areas

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

Cite this

Kim, J. H., Xiang, Y., Yang, J., Abdel-Malek, K., & Arora, J. S. (2009). Optimal throwing motion planning for a biped human mechanism. In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009 (PARTS A AND B ed., Vol. 7, pp. 929-936) https://doi.org/10.1115/DETC2009-87513

Optimal throwing motion planning for a biped human mechanism. / Kim, Joo Hyun; Xiang, Yujiang; Yang, Jingzhou; Abdel-Malek, Karim; Arora, Jasbir S.

ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009. Vol. 7 PARTS A AND B. ed. 2009. p. 929-936.

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

Kim, JH, Xiang, Y, Yang, J, Abdel-Malek, K & Arora, JS 2009, Optimal throwing motion planning for a biped human mechanism. in ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009. PARTS A AND B edn, vol. 7, pp. 929-936, ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009, San Diego, CA, United States, 8/30/09. https://doi.org/10.1115/DETC2009-87513
Kim JH, Xiang Y, Yang J, Abdel-Malek K, Arora JS. Optimal throwing motion planning for a biped human mechanism. In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009. PARTS A AND B ed. Vol. 7. 2009. p. 929-936 https://doi.org/10.1115/DETC2009-87513
Kim, Joo Hyun ; Xiang, Yujiang ; Yang, Jingzhou ; Abdel-Malek, Karim ; Arora, Jasbir S. / Optimal throwing motion planning for a biped human mechanism. ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009. Vol. 7 PARTS A AND B. ed. 2009. pp. 929-936
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