Robotic mobility assistance devices provide a purposeful and adaptive support for elderly humans. To achieve assistance which is specifically adapted to the individual needs and capabilities of the user, the device sh...
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The MOBOT∗ project aims to develop assistive devices that support elderly patients with mobility disabilities during gait and sit-to-stand (STS) transfer. The device is supposed to help such patients to maintain an in...
A common approach to record full-body human movement data is by using marker based motion capture systems. To obtain dynamic gait data such as joint torques and ground reaction forces additional measurement devices ha...
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ISBN:
(纸本)9781479968862
A common approach to record full-body human movement data is by using marker based motion capture systems. To obtain dynamic gait data such as joint torques and ground reaction forces additional measurement devices have to be employed that pose restrictions on where feet have to be placed during the recording. In this paper we use articulated rigid multibody models and optimal control methods to recover dynamic gait data solely from kinematic data. Our approach is independent from the used marker set and creates the rigid multibody model and computes all controls for the model such that when applied to the model, it closely reproduces the originally recorded motion. To achieve this there are two steps involved: i) create a subject-specific rigid multibody model of the recorded person and used marker set and compute the joint kinematics using inverse kinematics. ii) reconstruct the gait dynamics by solving an optimal control problem. For step i) we created a parameterize human model HEIMAN and a graphical user interface PUPPETEER that facilitates creation of the subject specific model and the motion capture mapping. For ii) we use MUSCOD-II, which implements the direct multiple-shooting method. We apply our method on 15 emotional human walking motions to compare joint angle and torque patterns of different emotions.
Human movement, as for example human gait, can be considered as an optimal realization of some given task. If the optimization criteria for different types of gait were known, this knowledge could help to improve robo...
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Human movement, as for example human gait, can be considered as an optimal realization of some given task. If the optimization criteria for different types of gait were known, this knowledge could help to improve robot motion generation and control, also for complex walking motions on slopes or stairs. Unfortunately, in general the criteria for which the naturally performed human motion is optimal, are not known. Therefore, in this article we study the relevance of different measurable quantities in human locomotion based on human motion capture data and a new template model that is able to capture the main dynamical characteristics we are interested in. To this end we introduce a three dimensional actuated walking model, with an upper body, two actuated legs and two point-masses as feet. Taking into account single and double support phases and the impact at touch down, the model is suitable to reproduce realistic three dimensional center of mass and swing foot trajectories even in constrained environments. In this article, we focus on walking up and down stairs and compare the observed quantities.
We present a new approach for humanoid gait generation based on movement primitives learned from optimal and dynamically feasible motion trajectories. As testing platform we consider the humanoid robot HRP-2, so far o...
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ISBN:
(纸本)9781479968862
We present a new approach for humanoid gait generation based on movement primitives learned from optimal and dynamically feasible motion trajectories. As testing platform we consider the humanoid robot HRP-2, so far only in simulation. Training data is generated by solving a set of optimal control problems for a minimum-torque optimality criterion and five different step lengths. As the dynamic robot model with all its kinematic and dynamic constraints is considered in the optimal control problem formulation, the resulting motion trajectories are not only optimal but also dynamically feasible. For the learning process we consider the joint angle trajectories of all actuated joints, the ZMP trajectory and the pelvis trajectory, which are sufficient quantities to control the robot. From the training data we learn morphable movement primitives based on Gaussian processes and principal component analysis. We show that five morphable primitives are sufficient to generate steps with 24 different lengths, which are close enough to both dynamical feasibility and optimality to be useful for fast on-line movement generation.
Most studies on humanoid robot locomotion focus on the dynamic stability of the robot and movements of the limbs. The role of the head during locomotion is one aspect that has received relatively little focus. In huma...
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ISBN:
(纸本)9781479971756
Most studies on humanoid robot locomotion focus on the dynamic stability of the robot and movements of the limbs. The role of the head during locomotion is one aspect that has received relatively little focus. In humans, the head plays a very important role of stabilizing in space and anticipating walking direction. In order to generate realistic humanoid motion, this is a vital aspect that must be taken into account. In this study, we propose a generalized framework for modeling human like head-body behavior during locomotion. We developed a dynamic model of the head and body orientation in which the head orientation is actively controlled and the trunk is coupled to it by a rotational spring-damper like term. Least-squares optimization was used to determine the parameters of this model from recorded human experimental data. The results were evaluated against novel recordings and provided a good prediction of human behavior. Our approach is an effective way to create human-like motions for anthropomorphic agents such as humanoid robots, and provides a good mathematical basis for extension to other aspects of human movements.
Sit to stand motions represent a big challenge for many elderly people even if other types of motions such as walking can still be achieved with less problems. It is therefore important to gain a deeper understanding ...
Human movement, as for example human gait, can be considered as an optimal realization of some given task. However, the criterion for which the naturally performed human motion is optimal, is generally not known. In t...
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