The scope of the present contribution is the derivation of the equations of motion and its field of application for humanoid robots, in particular legged robots. The derivation is performed in a modular and structured...
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ISBN:
(纸本)9783319306148;9783319306124
The scope of the present contribution is the derivation of the equations of motion and its field of application for humanoid robots, in particular legged robots. The derivation is performed in a modular and structured manner and it is shown how these equations can be exploited for the control of biped robots. The used methods allow to easily adopt the kinematic structure of single limbs and to reuse results obtained for limbs with similar kinematic structure but different inertial parameters such as in case the left leg is a mirrored version of the right one. After finding a recursive formulation to calculate the equations of motion we perform various state transformations and apply some model simplifications to obtain expressions that can be used to efficiently solve control problems. Two applications, compensating for the overall angular momentum and calculation of feed-forward torques, are shown. In both applications we can exploit the recursive calculation of the equations of motion used during the subsystem synthesis giving rise to real-time algorithms that can be used on a physical humanoid robot system.
Human movement is the result of a complex and synergistic interaction between the musculoskeletal and the central nervous system. As result, muscles contract coordinately to produce forces that are transmitted by tend...
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ISBN:
(纸本)9783319306148;9783319306124
Human movement is the result of a complex and synergistic interaction between the musculoskeletal and the central nervous system. As result, muscles contract coordinately to produce forces that are transmitted by tendons to the skeletal system, causing its movement or keeping its pose. Often neglected in current muscle models, the elastic properties of tendons play a significant role in the dynamic interaction between the muscular and skeletal systems, influencing the force transmission, energy storage and transfer, and joint control. The aim of this work is to present in detail the necessary steps to incorporate a musculotendon model in the framework of a multibody systems dynamics formulation. A methodology to compute the musculotendon forces and activations is presented based on the use of a Hill-type muscle model assembled in series with a spring-like element defined according to the elastic properties of the tendon. The proposed methodology can be applied, without significant changes, to both inverse and forward dynamic analyses of biomechanical systems. Three daily activities with different levels of musculotendon recruitment are analyzed from an inverse dynamics perspective. The selected activities are walking, running and jumping. The movement data characterizing these activities were acquired experimentally in a movement laboratory. A 3D biomechanical model of the human body, described with natural coordinates and encompassing 43 musculotendon actuators per leg, is proposed to assess the performance of the presented musculotendon model and of its incorporation on the referred multibody dynamics framework. The influence of the introduction of a compliant tendon model on the produced muscle forces and activation patterns is analyzed in face of those same results produced by the same biomechanical model defined with infinitely stiff (or rigid) tendons. Results revealed that the introduction of the tendon model allows muscles to work, predominantly, on their op
This book provides an insight on advanced methods and concepts for the design and analysis of structures against earthquake loading. This second volume is a collection of 28 chapters written by leading experts in the ...
ISBN:
(数字)9789400765733
ISBN:
(纸本)9789400765726;9789400765733
This book provides an insight on advanced methods and concepts for the design and analysis of structures against earthquake loading. This second volume is a collection of 28 chapters written by leading experts in the field of structural analysis and earthquake engineering. Emphasis is given on current state-of-the-art methods and concepts in computing methods and their application in engineering practice. The book content is suitable for both practicing engineers and academics, covering a wide variety of topics in an effort to assist the timely dissemination of research findings for the mitigation of seismic risk. Due to the devastating socioeconomic consequences of seismic events, the topic is of great scientific interest and is expected to be of valuable help to scientists and engineers. The chapters of this volume are extended versions of selected papers presented at the COMPDYN 2011 conference, held in the island of Corfu, Greece, under the auspices of the European Community on computational methods in applied sciences (ECCOMAS).
This volume contains thirteen articles on advances in applied mathematics and computing methods for engineering problems. Six papers are on optimization methods and algorithms with emphasis on problems with multiple c...
ISBN:
(数字)9789401790543
ISBN:
(纸本)9789401790536
This volume contains thirteen articles on advances in applied mathematics and computing methods for engineering problems. Six papers are on optimization methods and algorithms with emphasis on problems with multiple criteria; four articles are on numerical methods for applied problems modeled with nonlinear PDEs; two contributions are on abstract estimates for error analysis; finally one paper deals with rare events in the context of uncertainty quantification. Applications include aerospace, glaciology and nonlinear elasticity. Hereinis a selection of contributions from speakers at two conferences on applied mathematics held in June 2012 at the University of Jyvskyl, Finland. The first conference, Optimization and PDEs with Industrial Applications celebrated the seventieth birthday of Professor Jacques Priaux of the University of Jyvskyl and Polytechnic University of Catalonia (Barcelona Tech) and the second conference, Optimization and PDEs with Applications celebrated the seventy-fifth birthday of Professor Roland Glowinski of the University of Houston. This work should be of interest to researchers and practitioners as well as advanced students or engineers in computational and applied mathematics or mechanics.
A comprehensive analysis on the use of different friction force models on the dynamic simulations of multibody mechanical systems is investigated in this work. In this context, some of the most relevant approaches for...
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ISBN:
(纸本)9783319306148;9783319306124
A comprehensive analysis on the use of different friction force models on the dynamic simulations of multibody mechanical systems is investigated in this work. In this context, some of the most relevant approaches for dealing with friction available in the literature are revisited. In a broad sense, the friction models can be classified into the statics and dynamics models, as they describe the steady-state behavior or utilize extra state variable to capture the dynamic phenomena, respectively. In this process, the main limitations and implications of the friction force models are briefly analyzed. The dynamic responses of a single-mass one degree-of-freedom system with permanent contact, as well as a multibody model of double pendulum impacting the ground at its tip, are examined to analyze and compare the various friction laws. The obtained results suggest that the prediction of the dynamic behavior of multibody systems can strongly depend on the selection of the appropriate friction model as well as frictional parameters.
This book focuses on civil and structural engineering and construction management applications. The contributions constitute modified, extended and improved versions of research presentedat the minisymposium organized...
ISBN:
(数字)9783319204062
ISBN:
(纸本)9783319204055;9783319204062
This book focuses on civil and structural engineering and construction management applications. The contributions constitute modified, extended and improved versions of research presentedat the minisymposium organized by the editors at the ECCOMAS conference on this topic in Barcelona 2014.
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