Efficient zmp formulation and effective whole-body motion generation for a human-like mechanism

2008 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008

Volumn 2, Issue PART B, 2009, Pages 1073-1084

  Kim, Joo H ^a   Xiang, Yujiang ^a   Bhatt, Rajankumar ^a   Yang, Jingzhou ^a   Chung, Hyun Joon ^a   Patrick, Amos ^a   Arora, Jasbir S ^a   Abdel Malek, Karim ^a  

^a University of Iowa   (United States)

Author keywords

Human like mechanism; Lagrangian dynamics; Motion generation; Optimization; Zero moment point

Indexed keywords

APPLIED LOADS; DYNAMIC BALANCE; EFFICIENT FORMULATION; EXTERNAL LOADS; GROUND REACTIONS; HUMAN MODEL; HUMAN TASKS; HUMAN-LIKE MOTION; LAGRANGIAN DYNAMICS; MOTION CAPTURE; MOTION GENERATION; OPTIMALITY; OPTIMIZATION PROBLEMS; PHYSICS-BASED SIMULATION; STANDING POSTURE; WHOLE-BODY MOTION; ZERO MOMENT POINT;

ANIMATION; LAGRANGE MULTIPLIERS; OPTIMIZATION; SIMULATORS;

ROBOT PROGRAMMING;

EID: 69949186348     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

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