General Biped Motion and Balance of a Human Model 2008-01-1932
We propose an algorithm of predicting dynamic biped motions of Santos™ human model. An alternative and efficient formulation of the Zero-Moment Point (ZMP) for dynamic balance and the approximated ground reaction forces/moments are derived from the resultant reaction loads, which includes the gravity, the externally applied loads, and the inertia. The optimization problem is formulated to address the redundancy of the human task, where the general biped and the task-specific constraints are imposed depending on the task requirements. The proposed method is fully predictive and generates physically feasible human-like motions from scratch without any input reference from motion capture or animation. The resulting generated motions demonstrate how a human reacts effectively to different external load conditions in performing a given task by showing realistic features of cause and effect.
Citation: Kim, J., Xiang, Y., Bhatt, R., Yang, J. et al., "General Biped Motion and Balance of a Human Model," SAE Int. J. Passeng. Cars - Electron. Electr. Syst. 1(1):621-629, 2009, https://doi.org/10.4271/2008-01-1932. Download Citation
Author(s):
Joo H. Kim, Yujiang Xiang, Rajan Bhatt, Jingzhou Yang, Hyun-Joon Chung, Amos Patrick, Anith J. Mathai, Jasbir S. Arora, Karim Abdel-Malek, John P. Obusek
Affiliated:
The University of Iowa, US Army Natick Soldier Research
Pages: 9
Event:
Digital Human Modeling for Design and Engineering Symposium
ISSN:
1946-4614
e-ISSN:
1946-4622
Also in:
SAE International Journal of Passenger Cars - Electronic and Electrical Systems-V117-7EJ, SAE International Journal of Passenger Cars - Electronic and Electrical Systems-V117-7
Related Topics:
Mathematical models
Optimization
Gravity
SAE MOBILUS
Subscribers can view annotate, and download all of SAE's content.
Learn More »