Planning load-effective dynamic motions of highly articulated human model for generic tasks

Joo H. Kim, Jingzhou Yang, Karim Abdel-Malek

Research output: Contribution to journalArticlepeer-review


The robotic motion planning criteria has evolved from kinematics to dynamics in recent years. Many research achievements have been made in dynamic motion planning, but the externally applied loads are usually limited to the gravity force. Due to the increasing demand for generic tasks, the motion should be generated for various functions such as pulling, pushing, twisting, and bending. In this paper, a comprehensive form of equations of motion, which includes the general external loads applied at any point of branched tree structures, is implemented. An optimization-based algorithm is then developed to generate load-effective motions of redundant tree-structured systems for generic tasks. A highly articulated dual-arm human model is used to generate different effective motions to sustain different external load magnitudes. The results also provide a new scientific insight of human motion.

Original languageEnglish (US)
Pages (from-to)739-747
Number of pages9
Issue number5
StatePublished - Sep 2009


  • Equation of motion
  • General external load
  • Load-effective
  • Motion planning
  • Optimization
  • Redundant
  • Tree structure

ASJC Scopus subject areas

  • Software
  • Mechanical Engineering
  • Control and Optimization
  • Artificial Intelligence
  • Rehabilitation
  • Control and Systems Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Computational Mechanics
  • General Mathematics
  • Modeling and Simulation


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