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A Robust Formulation for Prediction of Human Running
ISSN: 0148-7191, e-ISSN: 2688-3627
Published June 12, 2007 by SAE International in United States
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A method to simulate digital human running using an optimization-based approach is presented. The digital human is considered as a mechanical system that includes link lengths, mass moments of inertia, joint torques, and external forces. The problem is formulated as an optimization problem to determine the joint angle profiles. The kinematics analysis of the model is carried out using the Denavit-Hartenberg method. The B-spline approximation is used for discretization of the joint angle profiles, and the recursive formulation is used for the dynamic equilibrium analysis. The equations of motion thus obtained are treated as equality constraints in the optimization process. With this formulation, a method for the integration of constrained equations of motion is not required. This is a unique feature of the present formulation and has advantages for the numerical solution process. The formulation also offers considerable flexibility for simulating different running conditions quite routinely. The zero moment point (ZMP) constraint during the foot support phase is imposed in the optimization problem. The proposed approach works quite well, and several realistic simulations of human running are generated.
- Hyun-Joon Chung - The University of Iowa
- Yujiang Xiang - The University of Iowa
- Anith Mathai - The University of Iowa
- Salam Rahmatalla - The University of Iowa
- Joo Kim - The University of Iowa
- Timothy Marler - The University of Iowa
- Steve Beck - The University of Iowa
- Jingzhou Yang - The University of Iowa
- Jasbir Arora - The University of Iowa
- Karim Abdel-Malek - The University of Iowa
- John Obusek - U.S. Army Soldier Center
CitationChung, H., Xiang, Y., Mathai, A., Rahmatalla, S. et al., "A Robust Formulation for Prediction of Human Running," SAE Technical Paper 2007-01-2490, 2007, https://doi.org/10.4271/2007-01-2490.
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