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 language | English (US) |
|---|---|
| Title of host publication | Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 |
| Pages | 587-592 |
| Number of pages | 6 |
| DOIs | |
| State | Published - 2008 |
| Event | 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 - Scottsdale, AZ, United States Duration: Oct 19 2008 → Oct 22 2008 |
Other
| Other | 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 |
|---|---|
| Country | United States |
| City | Scottsdale, AZ |
| Period | 10/19/08 → 10/22/08 |
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ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Biomedical Engineering
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - Throwing motion generation of a biped human model
AU - Kim, Joo Hyun
AU - Xiang, Yujiang
AU - Bhatt, Rajankumar
AU - Yang, Jingzhou
AU - Arora, Jasbir S.
AU - Abdel-Malek, Karim
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=63049105706&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=63049105706&partnerID=8YFLogxK
U2 - 10.1109/BIOROB.2008.4762900
DO - 10.1109/BIOROB.2008.4762900
M3 - Conference contribution
AN - SCOPUS:63049105706
SN - 9781424428830
SP - 587
EP - 592
BT - Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
ER -