Criteria and motion generation for multi-segmental legged balancing

Chang B. Joo, Joo H. Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper investigates the effect of upper body on balancing by comparing balanced state domain in the phase space. Biped mechanism is simplified to multi-segment model which consists of one stance foot, leg, and upper body in sagittal plane. System parameters such as link mass and link length are chosen appropriately based on human anthropometry data. In addition to the system parameters, the necessary and sufficient conditions for balancing are implemented as constraints. Proposed algorithm iteratively solves nonlinear constrained optimization problem to find velocity extrema for a given set of joint variables and a maximum actuation torque. The balanced state domain of an actively controlled swinging arm demonstrates larger domain compared to the domain without swinging arm. While similar results are shown by other various approaches, the proposed algorithm demonstrates identification of the balanced state domain in a deterministic scheme using numerical optimization.

Original languageEnglish (US)
Title of host publicationASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012
Pages919-926
Number of pages8
EditionPARTS A AND B
DOIs
StatePublished - 2012
EventASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012 - Chicago, IL, United States
Duration: Aug 12 2012Aug 12 2012

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
NumberPARTS A AND B
Volume4

Other

OtherASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012
CountryUnited States
CityChicago, IL
Period8/12/128/12/12

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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