Modeling Dual-Arm Coordination for Posture: An Optimization-Based Approach

2005-01-2686

06/14/2005

Event
2005 Digital Human Modeling for Design and Engineering Symposium
Authors Abstract
Content
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.
Meta TagsDetails
DOI
https://doi.org/10.4271/2005-01-2686
Pages
10
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.
Additional Details
Publisher
Published
Jun 14, 2005
Product Code
2005-01-2686
Content Type
Technical Paper
Language
English