Predictive dynamics: An optimization-based novel approach for human motion simulation

Structural and Multidisciplinary Optimization

Volumn 41, Issue 3, 2010, Pages 465-479

  Xiang, Yujiang ^a   Chung, Hyun Joon ^a   Kim, Joo H ^a   Bhatt, Rajankumar ^a   Rahmatalla, Salam ^a   Yang, Jingzhou ^a   Marler, Timothy ^a   Arora, Jasbir S ^a   Abdel Malek, Karim ^a  

^a University of Iowa   (United States)

Author keywords

Forward dynamics; Human motion simulation; Inverse dynamics; Optimization; Predictive dynamics; Single pendulum; Walking

Indexed keywords

FORWARD DYNAMIC; HUMAN MOTION SIMULATION; INVERSE DYNAMICS; PREDICTIVE DYNAMICS; SINGLE PENDULUM; WALKING;

COMPUTER SIMULATION; DYNAMICS; MILITARY APPLICATIONS; OPTIMIZATION; PENDULUMS;

EQUATIONS OF MOTION;

EID: 77952917439     PISSN: 1615147X     EISSN: 16151488     Source Type: Journal    
DOI: 10.1007/s00158-009-0423-z     Document Type: Article

References (19)

1. Anderson FC, Pandy MG (2001a) Static and dynamic optimization solutions for gait are practically equivalent. J Biomech 34: 153-161 (Pubitemid 32101528)
2. Anderson FC, Pandy MG (2001b) Dynamic optimization of human walking. J Biomech Eng 123(4):381-390 (Pubitemid 32938934)
3. Bottasso CL, Prilutsky BI, Croce A, Imberti E, Sartirana S (2006) A numerical procedure for inferring from experimental data the optimization cost functions using a multibody model of the neuro-musculoskeletal system. Multibody Syst Dyn 16:123-154 (Pubitemid 44300360)
4. Chevallereau C, Formal'sky A, Perrin B (1998) Low energy cost reference trajectories for a biped robot. In: Proceedings of IEEE international conference on robotics and automation, vol 2. Leuven, Belgium, pp 1398-1404
5. Gill PE, Murray W, Saunders MA (2002) SNOPT: an SQP algorithm for large-scale constrained optimization. SIAM J Optim 12: 979-1006
6. Kim HJ, Wang Q, Rahmatalla S, Swan CC, Arora JS, Abdel-Malek K, Assouline JG (2008) Dynamic motion planning of 3D human locomotion using gradient-based optimization. J Biomech Eng 130(2):031002
7. Kim JG, Baek JH, Park FC (1999) Newton-type algorithms for robot motion optimization. Proc IEEE/RSJ Int Conf Intell Robots Syst 3:1842-1847 (Pubitemid 30577906)
8. Leboeuf F, Bessonnet G, Seguin P, Lacouture P (2006) Energetic versus sthenic optimality criteria for gymnastic movement synthesis. Multibody Syst Dyn 16:213-236 (Pubitemid 44727201)
9. Lo J, Huang G, Metaxas D (2002) Human motion planning based on recursive dynamics and optimal control techniques. Multibody Syst Dyn 8(3):433-458 (Pubitemid 35427586)
10. Marler T, Arora J, Beck S, Lu J, Mathai A, Patrick A, Swan C (2008). Computational approaches in DHM. In: Duffy VG (ed) Handbook of digital human modeling for human factors and ergonomics
11. Roussel L, Canudas-de-Wit C, Goswami A (1998) Generation of energy optimal complete gait cycles for biped robots. Proc IEEE Int Conf Robotics Automation 3:2036-2041
12. Schiehlen W (1997) Multibody system dynamics: roots and perspectives. Multibody Syst Dyn 1:149-188 (Pubitemid 127508377)
13. Saidouni T, Bessonnet G (2003) Generating globally optimized sagittal gait cycles of a biped robot. Robotica 21(1):199-210
14. Saunders JBDM, Inman VT, Eberhart HD (1953) The major determinants in normal and pathological gait. J Bone Joint Surg Am 35(A3):543-558
15. Sohl GA, Bobrow JE (2001) A recursive multibody dynamics and sensitivity algorithm for branched kinematic chains. ASME J Dyn Syst Meas Control 123:391-399 (Pubitemid 33719327)
16. Vukobratović M, Potkonjak V, Babković K, Borovac B (2007) Simulation model of general human and humanoid motion. Multibody Syst Dyn 17:71-96 (Pubitemid 46325915)
17. Wang Q, Xiang Y, Arora JS, Abdel-Malek K (2007) Alternative formulations for optimization-based human gait planning. In: 48th AIAA/ASME/ASCE/AHS/ASC structures, structural dynamics and materials conference. Honolulu, Hawaii
18. Xiang Y, Arora JS, Abdel-Malek K (2009a) Optimization-based motion prediction of mechanical systems: sensitivity analysis. Struct Multidisc Optim 37(5):595-608
19. Xiang Y, Arora JS, Rahmatalla S, Abdel-Malek K (2009b) Optimization-based dynamic human walking prediction: one step formulation. Int J Numer Methods Eng 79(6):667-695. doi: 10.1002/nme.2575