Landing motion analysis of human body motion considering impact and ZMP condition
- Title
- Landing motion analysis of human body motion considering impact and ZMP condition
- Author
- 이병주
- Keywords
- Humanoid; Landing; ZMP
- Issue Date
- 2004-09
- Publisher
- IEEE
- Citation
- 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), v. 2, Page. 1972-1978
- Abstract
- This paper deals with modeling and analysis for
the landing motion of a human-body model. First, the
dynamic model of a floating human body and the impact
model are derived and the external impulse exerted on
the ground as well as the internal impulse experienced at
the joints of the human body model are investigated.
Second, a motion planning algorithm exploiting the
kinematic redundancy is suggested to ensure stability in
terms of ZMP stability condition during a series of
landing phases. Four phases of landing motion are
investigated. In simulation, the external and internal
impulses experienced at the human joints and the ZMP
history resulting from the motion planning are analyzed
for two different configurations. A desired landing
posture is suggested by comparison of the simulation
results.
- URI
- https://information.hanyang.ac.kr/#/eds/detail?an=edselc.2-52.0-14044276366&dbId=edselchttps://repository.hanyang.ac.kr/handle/20.500.11754/151732
- ISBN
- 0780384636
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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