Download or read book Modeling and Simulation of Stable Human Locomotion Using Five Degree of freedom Gait Model written by Vanisri Viswanathan and published by . This book was released on 2001 with total page 112 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Forward Dynamic Modeling of Human Locomotion written by James Lanphier Patton and published by . This book was released on 1993 with total page 308 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Human and Machine Locomotion written by A. Morecki and published by Springer. This book was released on 2014-05-04 with total page 318 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book covers the state-of-the-art in both biological and artificial legged locomotion systems. The seven chapters focus on topics ranging from very detailed modelling of the musculo-skeletal system, through mathematical modelling and simulation to theories applicable to locomotion mechanics and control. The final two chapters deal with the mechanics, control and design of artificial legged locomotion systems.
Download or read book Human Gait Simulation Using Motion Generation Methods from Robotics written by Melya Boukheddimi and published by . This book was released on 2020 with total page 114 pages. Available in PDF, EPUB and Kindle. Book excerpt: The human body is a complex system made of more than 600 muscles, which contribute to the actuation of more than 200 Degrees of Freedom (DoFs) [35]. It is therefore a highly redundant system for most kinematic tasks. Many authors have suggested that the central nervous system does not independently control in real-time each muscle and DoFs [54]. Though the high number of muscles and DoFs makes motor control problems difficult, it offers high adaptation capabilities to the body for executing multiple tasks simultaneously when necessary [54]. Among the tasks that require a high level of motor coordination, bipedal gait is a crucial one. The bipedal gait is the natural means of human locomotion. Despite the fact that this movement is quite stereotyped across individuals, it is still unclear how the central nervous system coordinates the complex musculo-skeletal system for gait generation, and how the different sequences of the gait cycle are regulated. In order to address these issues, we proposed to simulate the human-like gait using a simplified model of poly- articulated rigid bodies (3D whole-body skeletal model including 42 degrees of freedom), on which we applied two different motion generation methods. Hence, this thesis is part of the human-like gait generation problem, using motion generation methods from robotics. The first contribution shows that controlling only a small set of adequately selected tasks is sufficient to closely reproduce the human gait kinematics. To this aim, a Hierarchical task controller is applied to the whole-body model with only 3 hierarchical tasks, to generate nine different human-like gaits. The analysis of the simulated gaits shows the emergence of significant human-like properties in walking. In order to validate our results, a comparison between the simulated and human reference joint rotations is conducted. In the end, a discussion is given to illustrate the interest of this approach comparing to related works.The second contribution is based on the well-known hypothesis that human motion is the result of an optimization process. We consider a reduced set of criteria, which seem to be optimized during the human gait, taken from the observation of human walking and the study of the related literature. Direct Optimal Control based on the Differential Dynamic Programming algorithm is applied following these criteria with the whole-body model to generate nine different walking motions. The simulated walking motions are then analyzed and compared to the human reference to show the quality of the gait generation process. The interest of this optimization approach for human-like motion generation is finally discussed. Finally, a comparison between the two methods from robotics is presented and discussed, involving an analysis of the obtained movements' quality.
Download or read book Design and Operation of Human Locomotion Systems written by Marco Ceccarelli and published by Academic Press. This book was released on 2019-10-15 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt: Design and Operation of Locomotion Systems examines recent advances in locomotion systems with multidisciplinary viewpoints, including mechanical design, biomechanics, control and computer science. In particular, the book addresses the specifications and requirements needed to achieve the proper design of locomotion systems. The book provides insights on the gait analysis of humans by considering image capture systems. It also studies human locomotion from a rehabilitation viewpoint and outlines the design and operation of exoskeletons, both for rehabilitation and human performance enhancement tasks. Additionally, the book content ranges from fundamental theory and mathematical formulations, to practical implementations and experimental testing procedures. Written and contributed by leading experts in robotics and locomotion systems Addresses humanoid locomotion from both design and control viewpoints Discusses the design and control of multi-legged locomotion systems
Download or read book Human Motion Simulation written by Karim Abdel-Malek and published by Academic Press. This book was released on 2013-05-30 with total page 296 pages. Available in PDF, EPUB and Kindle. Book excerpt: Simulate realistic human motion in a virtual world with an optimization-based approach to motion prediction. With this approach, motion is governed by human performance measures, such as speed and energy, which act as objective functions to be optimized. Constraints on joint torques and angles are imposed quite easily. Predicting motion in this way allows one to use avatars to study how and why humans move the way they do, given specific scenarios. It also enables avatars to react to infinitely many scenarios with substantial autonomy. With this approach it is possible to predict dynamic motion without having to integrate equations of motion -- rather than solving equations of motion, this approach solves for a continuous time-dependent curve characterizing joint variables (also called joint profiles) for every degree of freedom. Introduces rigorous mathematical methods for digital human modelling and simulation Focuses on understanding and representing spatial relationships (3D) of biomechanics Develops an innovative optimization-based approach to predicting human movement Extensively illustrated with 3D images of simulated human motion (full color in the ebook version)
Download or read book Modeling Simulation and Optimization of Bipedal Walking written by Katja Mombaur and published by Springer Science & Business Media. This book was released on 2013-02-28 with total page 289 pages. Available in PDF, EPUB and Kindle. Book excerpt: The model-based investigation of motions of anthropomorphic systems is an important interdisciplinary research topic involving specialists from many fields such as Robotics, Biomechanics, Physiology, Orthopedics, Psychology, Neurosciences, Sports, Computer Graphics and Applied Mathematics. This book presents a study of basic locomotion forms such as walking and running is of particular interest due to the high demand on dynamic coordination, actuator efficiency and balance control. Mathematical models and numerical simulation and optimization techniques are explained, in combination with experimental data, which can help to better understand the basic underlying mechanisms of these motions and to improve them. Example topics treated in this book are Modeling techniques for anthropomorphic bipedal walking systems Optimized walking motions for different objective functions Identification of objective functions from measurements Simulation and optimization approaches for humanoid robots Biologically inspired control algorithms for bipedal walking Generation and deformation of natural walking in computer graphics Imitation of human motions on humanoids Emotional body language during walking Simulation of biologically inspired actuators for bipedal walking machines Modeling and simulation techniques for the development of prostheses Functional electrical stimulation of walking.
Download or read book Three Dimensional Analysis of Human Locomotion written by Paul Allard and published by . This book was released on 1997 with total page 432 pages. Available in PDF, EPUB and Kindle. Book excerpt: Thanks to improvements in motion recording technology and computer data processing, real-time, full-body 3D representations of human locomotions are now possible. This book examines 3D analysis of human locomotion and discusses fundamental aspects of functional anatomy, motor control, and neuroscience applied to locomotion. It provides advice on setting up and operating a gait laboratory along with the essentials of instrumentation and the current modeling techniques for estimating muscle forces.
Download or read book Adaptability of Human Gait written by A.E. Patla and published by Elsevier. This book was released on 1991-03-25 with total page 471 pages. Available in PDF, EPUB and Kindle. Book excerpt: A large number of volumes have been produced summarizing the work on generation and control of rhythmic movements, in particular locomotion. Unfortunately most of them focus on locomotor studies done on animals. This edited volume redresses that imbalance by focusing completely on human locomotor behaviour. The very nature of the problem has both necessitated and attracted researchers from a wide variety of disciplines ranging from psychology, neurophysiology, kinesiology, engineering, medicine to computer science. The different and unique perspectives they bring to this problem provide a comprehensive picture of the current state of knowledge on the generation and regulation of human locomotor behaviour. A common unifying theme of this volume is studying the adaptability of human gait to obtain insights into the control of locomotion. The intentional focus on "adaptability" is meant to draw attention to the importance of understanding the generation and regulation of "skilled locomotor behaviour" rather than just the generation of basic locomotor patterns which has been the major focus of animal studies. The synthesis chapter at the end of the volume examines how the questions posed, the technology, and the experimental and theoretical paradigms have evolved over the years, and what the future has in store for this important research domain.
Download or read book 11th Mediterranean Conference on Medical and Biological Engineering and Computing 2007 written by Tomaz Jarm and published by Springer Science & Business Media. This book was released on 2007-11-12 with total page 2365 pages. Available in PDF, EPUB and Kindle. Book excerpt: Biomedical engineering brings together bright minds from diverse disciplines, ranging from engineering, physics, and computer science to biology and medicine. This book contains the proceedings of the 11th Mediterranean Conference on Medical and Biological Engineering and Computing, MEDICON 2007, held in Ljubljana, Slovenia, June 2007. It features relevant, up-to-date research in the area.
Download or read book Achieving Stable Walking in Bipedal Robots written by Justin C. McKendry and published by . This book was released on 2007 with total page 270 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: This research focuses on the application of existing design, modeling, and control techniques to study uninvestigated problems in the area of bipedal walking robots. The first portion of this thesis presents a method of integrating mechanism design and hybrid system analysis for the design of a class of single-degree-of-freedom (DOF) planar bipedal robots that can achieve dynamic walking gaits that are stable. These bipeds employ mechanical coordination to reduce the DOF, which can result in a reduction of the complexity of the control strategies needed to enable stable walking. Prior to this work, a methodology for the design of this type of biped had yet to be developed. The second portion of this thesis investigates walking in three-dimensions (3D). A five-DOF, 3D bipedal model is derived and is used to study the degree of dynamic coupling between frontal and sagittal plane motions. Since the dynamics are found to he inherently coupled, a feedback control algorithm that simultaneously accounts for sagittal and frontal plane motions is introduced. With this control, only unstable periodic gaits are obtained. The final portion of this thesis also involves walking in 3D but focuses on the use of a passive-dynamic walker as a basis for the development of 3D controlled bipedal models. The basin of attraction of a known, stable gait for a passive 3D biped is estimated. The stability mechanisms of the limit cycle are also analyzed. Finally, a passivity-based control strategy is introduced that results in a moderate increase in the size of the basin of attraction. Prior to this work, this methodology had yet to be applied to a 3D passive biped.
Download or read book Master s Theses Directories written by and published by . This book was released on 2002 with total page 412 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Education, arts and social sciences, natural and technical sciences in the United States and Canada".
Download or read book Accuracy of Six Degree of Freedom Joint Kinematics and Kinetic Measures During Normal and Pathological Gait written by Anne Schmitz and published by . This book was released on 2008 with total page 86 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Handbook of Human Motion written by and published by Springer. This book was released on 2018-04-24 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Handbook of Human Motion is a large cross-disciplinary reference work which covers the many interlinked facets of the science and technology of human motion and its measurement. Individual chapters cover fundamental principles and technological developments, the state-of-the-art and consider applications across four broad and interconnected fields; medicine, sport, forensics and animation. The huge strides in technological advancement made over the past century make it possible to measure motion with unprecedented precision, but also lead to new challenges. This work introduces the many different approaches and systems used in motion capture, including IR and ultrasound, mechanical systems and video, plus some emerging techniques. The large variety of techniques used for the study of motion science in medicine can make analysis a complicated process, but extremely effective for the treatment of the patient when well utilised. The handbook descri bes how motion capture techniques are applied in medicine, and shows how the resulting analysis can help in diagnosis and treatment. A closely related field, sports science involves a combination of in-depth medical knowledge and detailed understanding of performance and training techniques, and motion capture can play an extremely important role in linking these disciplines. The handbook considers which technologies are most appropriate in specific circumstances, how they are applied and how this can help prevent injury and improve sporting performance. The application of motion capture in forensic science and security is reviewed, with chapters dedicated to specific areas including employment law, injury analysis, criminal activity and motion/facial recognition. And in the final area of application, the book describes how novel motion capture techniques have been designed specifically to aid the creation of increasingly realistic animation within films and v ideo games, with Lord of the Rings and Avatar just two examples. Chapters will provide an overview of the bespoke motion capture techniques developed for animation, how these have influenced advances in film and game design, and the links to behavioural studies, both in humans and in robotics. Comprising a cross-referenced compendium of different techniques and applications across a broad field, the Handbook of Human Motion provides the reader with a detailed reference and simultaneously a source of inspiration for future work. The book will be of use to students, researchers, engineers and others working in any field relevant to human motion capture.
Download or read book Modelling Simulation and Optimization written by Gregorio Romero and published by BoD – Books on Demand. This book was released on 2010-02-01 with total page 722 pages. Available in PDF, EPUB and Kindle. Book excerpt: Computer-Aided Design and system analysis aim to find mathematical models that allow emulating the behaviour of components and facilities. The high competitiveness in industry, the little time available for product development and the high cost in terms of time and money of producing the initial prototypes means that the computer-aided design and analysis of products are taking on major importance. On the other hand, in most areas of engineering the components of a system are interconnected and belong to different domains of physics (mechanics, electrics, hydraulics, thermal...). When developing a complete multidisciplinary system, it needs to integrate a design procedure to ensure that it will be successfully achieved. Engineering systems require an analysis of their dynamic behaviour (evolution over time or path of their different variables). The purpose of modelling and simulating dynamic systems is to generate a set of algebraic and differential equations or a mathematical model. In order to perform rapid product optimisation iterations, the models must be formulated and evaluated in the most efficient way. Automated environments contribute to this. One of the pioneers of simulation technology in medicine defines simulation as a technique, not a technology, that replaces real experiences with guided experiences reproducing important aspects of the real world in a fully interactive fashion [iii]. In the following chapters the reader will be introduced to the world of simulation in topics of current interest such as medicine, military purposes and their use in industry for diverse applications that range from the use of networks to combining thermal, chemical or electrical aspects, among others. We hope that after reading the different sections of this book we will have succeeded in bringing across what the scientific community is doing in the field of simulation and that it will be to your interest and liking. Lastly, we would like to thank all the authors for their excellent contributions in the different areas of simulation.
Download or read book Embedded Robotics written by Thomas Bräunl and published by Springer Science & Business Media. This book was released on 2008-09-20 with total page 536 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a unique examination of mobile robots and embedded systems, from introductory to intermediate level. It is structured in three parts, dealing with Embedded Systems (hardware and software design, actuators, sensors, PID control, multitasking), Mobile Robot Design (driving, balancing, walking, and flying robots), and Mobile Robot Applications (mapping, robot soccer, genetic algorithms, neural networks, behavior-based systems, and simulation). The book is written as a text for courses in computer science, computer engineering, IT, electronic engineering, and mechatronics, as well as a guide for robot hobbyists and researchers.
Download or read book Application of Different Control Strategies to the Forward Dynamic Simulation of Human Gait written by Olga Pätkau and published by . This book was released on 2014 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: In this thesis, two different control strategies are applied to the forward dynamic simulation of multibody systems in order to track a given reference motion. For this purpose, two different computational models are presented: a four-bar linkage model with one degree of freedom; and a two-dimensional human body model that consists of 12 segments with 14 degrees of freedom. The forward dynamic analysis of the two models is implemented using the matrix-R formulation and carried out by means of a variablestep integration solver. Furthermore, an analysis and comparison of different numerical integration methods are carried out. The joint forces and torques, which are applied to the multibody systems in order to drive their motion, are provided through an inverse dynamic analysis. In order to stabilize the simulation and to enable the tracking of a reference motion, two control methods are introduced: a proportional derivative control and a computed torque control using feedback linearization. The design of both control approaches is developed and applied to the forward dynamic simulation of both models. The system performance is evaluated by comparing the results with the reference motion. The reference human motion of a healthy subject was captured previously in a biomechanics laboratory. Moreover, the robustness of the computed torque control approach is analysed. In addition, environmental and social impacts of this thesis are outlined and an economical consideration is included.
