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Modeling Dual-Arm Coordination for Posture: An Optimization-Based Approach
Technical Paper
2005-01-2686
ISSN: 0148-7191, e-ISSN: 2688-3627
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English
Abstract
In the field of human modeling, there is an increasing demand for predicting human postures in real time. However, there has been minimal progress with methods that can incorporate multiple limbs with shared degrees of freedom (DOFs). This paper presents an optimization-based approach for predicting postures that involve dual-arm coordination with shared DOFs, and applies this method to a 30-DOF human model. Comparisons to motion capture data provide experimental validation for these examples. We show that this optimization-based approach allows dual-arm coordination with minimal computational cost. This new approach also easily extends to models with a higher number of DOFs and additional end-effectors.
Authors
Citation
Farrell, K., Marler, T., and Abdel-Malek, K., "Modeling Dual-Arm Coordination for Posture: An Optimization-Based Approach," SAE Technical Paper 2005-01-2686, 2005, https://doi.org/10.4271/2005-01-2686.Also In
SAE 2005 Transactions Journal of Passenger Cars: Mechanical Systems
Number: V114-6; Published: 2006-02-01
Number: V114-6; Published: 2006-02-01
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