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General Biped Motion and Balance of a Human Model
- Joo H. Kim - The University of Iowa ,
- Yujiang Xiang - The University of Iowa ,
- Rajan Bhatt - The University of Iowa ,
- Jingzhou Yang - The University of Iowa ,
- Hyun-Joon Chung - The University of Iowa ,
- Amos Patrick - The University of Iowa ,
- Anith J. Mathai - The University of Iowa ,
- Jasbir S. Arora - The University of Iowa ,
- Karim Abdel-Malek - The University of Iowa ,
- John P. Obusek - US Army Natick Soldier Research
ISSN: 1946-4614, e-ISSN: 1946-4622
Published June 17, 2008 by SAE International in United States
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.
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.
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