This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Modifying Motions for Avoiding Obstacles
Technical Paper
2001-01-2112
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
Interference between physical objects in the workspace and the moving human body may cause serious problems, including errors in manual operation, physical damage and trauma from the collision, and increased biomechanical stresses due to movement reorganization for avoiding the obstacles. Therefore, a computer algorithm to detect possible collisions and simulate human motions to avoid obstacles will be an important tool for computer-aided ergonomics and optimization of system design in the early stage of a design process. In the present study, we present a method of modifying motions for obstacle avoidance when the object intrudes near the center of the planned motion. We take the motion modification approach, as we believe that for a certain class of obstacle avoidance problems, a person would modify a pre-planned motion that would result in a collision to a new one that is collision-free, as opposed to organizing a totally unique motion pattern. Our method assumes that there is an existing motion sample that satisfies the initial and final hand position constraints. This existing motion sample is called a root motion. If the root motion is found to incur a collision with obstacles, it will be modified to become collision-free. The modification is not done at random, but guided utilizing a “via” posture (Rosenbaum et al., 1999). This idea is based upon the hypothesis that the human brain can reorganize a pre-planned motion to avoid obstacles by locating a “via” posture at a certain time of the motion and altering the pre-planned angular motion trajectories to pass through the “via” posture. An optimization model is presented for finding a via posture via which the resulting modified motion becomes a realistic variation of the root motion as well as collision-free. Our initial simulation results indicate that the proposed method is promising for planning and simulating obstacle avoidance motions.
Authors
Topic
Citation
Park, W., Chaffin, D., and Martin, B., "Modifying Motions for Avoiding Obstacles," SAE Technical Paper 2001-01-2112, 2001, https://doi.org/10.4271/2001-01-2112.Also In
SAE 2001 Transactions Journal of Passenger Cars - Mechanical Systems
Number: V110-6; Published: 2002-09-15
Number: V110-6; Published: 2002-09-15
References
- Badler, N. Bindiganavale, R. Granieri, J. Wei, S. Zhao, X. 1994 Posture interpolation with Collision Avoidance Computer Animation '94 Geneva, Switzerland IEEE Computer Society Press Los Alamitos, CA 13 20
- Beck, D. J. Chaffin D. B. 1992 Evaluation of Inverse Kinematic Models for Posture Prediction Proceedings of the International Conference on Computer Aided Ergonomics and Safety - CAES'92
- Faraway, J. J. 1997 Regression analysis for functional response Technometrics 39 3 254 261
- Faraway, J. J. Zhang, X. Chaffin, D. B. 1999 Rectifying postures reconstructed from joint angles to meet constraints Journal of Biomechanics 32 7 639 754
- Gleicher, M. Litwinowicz 1998 Constraint-based Motion Adaptation The Journal of Visualization and Computer Animation 9 2 65 94
- Hsiang, S. M. Ayoub, M. M. 1994 Development of methodology in biomechanical simulation of manual lifting International Journal of Industrial Ergonomics 19 59 74
- Jung, E. S. Choe, J. 1996 Human reach posture prediction based on psychophysical discomfort International Journal of Industrial Ergonomics 18 173 179
- Jung, E. S. Kee, D. Chung, M. K. 1995 Upper body reach posture prediction for ergonomics evaluation models International Journal of Industrial Ergonomics 16 2 95 107
- Lin, C. J. Ayoub, M. M. Bernard, T. M. 1999 Computer motion simulation for sagittal plane lifting activities International Journal of Industrial Ergonomics 24 141 155
- Park, W. Chaffin, D. B. Martin, B. J. 2000 Development of an angle-time-based motion modification method SAE 2000-01-2176 SAE digital human modeling conference Dearborn, MI
- Popović, Z. Witkin, A. 1999 Physically based motion transformation Proceedings of SIGGRAPH 99 Los Angeles, CA
- Rosenbaum, D. A. Meulenbroek, R. G. J. Vaughan, J. Jansen, C. 1999 Coordination of reaching and grasping by capitalizing on obstacle avoidance and other constraints Experimental Brain Research 128 92 100
- Shmidt, R.A. 1975 A schema theory of discrete motor skill learning Psychological Review 82 225 260
- Wang, X. 1999 Behavior-based inverse kinematics algorithm to predict arm prehension postures for computer-aided ergonomic evaluation Journal of Biomechanics 32 5 453 460
- Witkin Popović, Z. 1995 Motion Warping Proceedings of SIGGRAPH 95 Los Angeles, CA
- Zhang, X. Kuo, A. D. Chaffin, D. B. 1998 Optimization-based differential kinematic modeling exhibits a velocity-control strategy for dynamic posture determination in seated reaching movements Journal of Biomechanics 31 1035 1042