Throwing motion generation of a biped human model

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

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

Abstract

Throwing motion is a complicated whole-body movement. The kinematics and dynamics of throwing have been analyzed and simulated in the literature mostly from the experimental measurements such as motion capture. In this presentation, the overarm throwing motion of a 55 degree-offreedom biped human model is generated from multibody dynamics and optimization. The whole-body dynamic balance is maintained during the motion through an efficient Zero- Moment Point formulation. The proposed method is completely predictive and no input reference motion is required. As outputs, the generated motion and the required actuator torques are calculated. The results show dynamically feasible human motion of throwing in a physics-based simulation environment. Key words: motion generation, multibody dynamics, optimization, Zero-Moment Point, throwing.

Original languageEnglish (US)
Title of host publicationProceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
Pages587-592
Number of pages6
DOIs
StatePublished - 2008
Event2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 - Scottsdale, AZ, United States
Duration: Oct 19 2008Oct 22 2008

Other

Other2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
CountryUnited States
CityScottsdale, AZ
Period10/19/0810/22/08

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Kinematics
Actuators
Torque
Physics

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Biomedical Engineering

Cite this

Kim, J. H., Xiang, Y., Bhatt, R., Yang, J., Arora, J. S., & Abdel-Malek, K. (2008). Throwing motion generation of a biped human model. In Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 (pp. 587-592). [4762900] https://doi.org/10.1109/BIOROB.2008.4762900

Throwing motion generation of a biped human model. / Kim, Joo Hyun; Xiang, Yujiang; Bhatt, Rajankumar; Yang, Jingzhou; Arora, Jasbir S.; Abdel-Malek, Karim.

Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008. 2008. p. 587-592 4762900.

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

Kim, JH, Xiang, Y, Bhatt, R, Yang, J, Arora, JS & Abdel-Malek, K 2008, Throwing motion generation of a biped human model. in Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008., 4762900, pp. 587-592, 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008, Scottsdale, AZ, United States, 10/19/08. https://doi.org/10.1109/BIOROB.2008.4762900
Kim JH, Xiang Y, Bhatt R, Yang J, Arora JS, Abdel-Malek K. Throwing motion generation of a biped human model. In Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008. 2008. p. 587-592. 4762900 https://doi.org/10.1109/BIOROB.2008.4762900
Kim, Joo Hyun ; Xiang, Yujiang ; Bhatt, Rajankumar ; Yang, Jingzhou ; Arora, Jasbir S. ; Abdel-Malek, Karim. / Throwing motion generation of a biped human model. Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008. 2008. pp. 587-592
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