Optimal throwing motion planning for a biped human mechanism

Joo H. Kim; Yujiang Xiang; Jingzhou Yang; Karim Abdel-Malek; Jasbir S. Arora

doi:10.1115/DETC2009-87513

Optimal throwing motion planning for a biped human mechanism

Joo H. Kim, Yujiang Xiang, Jingzhou Yang, Karim Abdel-Malek, Jasbir S. Arora

Mechanical and Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

An optimal motion planning formulation of throwing for a biped human mechanism is proposed as an extension of a previous study. The unique characteristics of the throwing task - highly redundant, highly nonlinear, and highly dynamic - are addressed in this presentation within the framework of multibody dynamics and optimization. To generate physically feasible throwing motions in a fully predictive method without input reference, rigorous dynamic models are associated with the constraints. Given the target location and the object mass, the algorithm outputs the motion, required actuator torques, release parameters, balance criterion, and ground reaction forces. Overarm and sidearm throwing motions are generated as optimal solutions, which demonstrate valid kinematic and kinetic cause-effect relations. Key words: motion planning, dynamics, optimization, Zero-Moment Point, throwing.

Original language	English (US)
Title of host publication	Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
Pages	929-936
Number of pages	8
Edition	PART B
DOIs	https://doi.org/10.1115/DETC2009-87513
State	Published - 2010
Event	2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009 - San Diego, CA, United States Duration: Aug 30 2009 → Sep 2 2009

Publication series

Name	Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
Number	PART B
Volume	7

Conference

Conference	2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009
Country/Territory	United States
City	San Diego, CA
Period	8/30/09 → 9/2/09

ASJC Scopus subject areas

Computer Networks and Communications
Hardware and Architecture
Electrical and Electronic Engineering

Access to Document

10.1115/DETC2009-87513

Cite this

Kim, J. H., Xiang, Y., Yang, J., Abdel-Malek, K., & Arora, J. S. (2010). Optimal throwing motion planning for a biped human mechanism. In Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009 (PART B ed., pp. 929-936). (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009; Vol. 7, No. PART B). https://doi.org/10.1115/DETC2009-87513

Optimal throwing motion planning for a biped human mechanism. / Kim, Joo H.; Xiang, Yujiang; Yang, Jingzhou et al.
Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009. PART B. ed. 2010. p. 929-936 (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009; Vol. 7, No. PART B).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kim, JH, Xiang, Y, Yang, J, Abdel-Malek, K & Arora, JS 2010, Optimal throwing motion planning for a biped human mechanism. in Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009. PART B edn, Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009, no. PART B, vol. 7, pp. 929-936, 2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009, San Diego, CA, United States, 8/30/09. https://doi.org/10.1115/DETC2009-87513

Kim JH, Xiang Y, Yang J, Abdel-Malek K, Arora JS. Optimal throwing motion planning for a biped human mechanism. In Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009. PART B ed. 2010. p. 929-936. (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009; PART B). doi: 10.1115/DETC2009-87513

Kim, Joo H. ; Xiang, Yujiang ; Yang, Jingzhou et al. / Optimal throwing motion planning for a biped human mechanism. Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009. PART B. ed. 2010. pp. 929-936 (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009; PART B).

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Optimal throwing motion planning for a biped human mechanism

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