Simulation model of general human and humanoid motion |
| |
Authors: | Miomir Vukobratovi? Veljko Potkonjak Kalman Babkovi? Branislav Borovac |
| |
Affiliation: | (1) Institute “Mihajlo Pupin”, Volgina 15, 11000 Belgrade, Serbia & Montenegro;(2) Faculty of Electrical Engineering, University of Belgrade, Bulevar Kralja Aleksandra 73, 11000 Belgrade, Serbia & Montenegro;(3) Faculty of Technical Sciences, University of Novi Sad, Trg Dositeja Obradovića 6, 21000 Novi Sad, Serbia & Montenegro |
| |
Abstract: | In the last decade we have witnessed a rapid growth of Humanoid Robotics, which has already constituted an autonomous research field. Humanoid robots (or simply humanoids) are expected in all situations of humans’ everyday life, “living” and cooperating with us. They will work in services, in
homes, and hospitals, and they are even expected to get involved in sports. Hence, they will have to be capable of doing diverse
kinds of tasks. This forces the researchers to develop an appropriate mathematical model to support simulation, design, and
control of these systems. Another important fact is that today’s, and especially tomorrow’s, humanoid robots will be more
and more humanlike in their shape and behavior. A dynamic model developed for an advanced humanoid robot may become a very
useful tool for the dynamic analysis of human motion in different tasks (walking, running and jumping, manipulation, various
sports, etc.). So, we derive a general model and talk about a human-and-humanoid simulation system. The basic idea is to start
from a human/humanoid considered as a free spatial system (“flier”). Particular problems (walking, jumping, etc.) are then
considered as different contact tasks – interaction between the flier and various objects (being either single bodies or separate
dynamic systems). |
| |
Keywords: | Humanoid Robotics Flier dynamics Walking Jumping Link motion contact Takeoff Landing Contact force Goalkeeper Biological modeling |
本文献已被 SpringerLink 等数据库收录! |
|