A three-link module for modular dynamics and control of high-dimensional humanoids

Hemami, H.; Zheng, Yuan F.

doi:10.1109/icra.2012.6224616

Cited by 5 publications

(8 citation statements)

References 19 publications

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“…Sliding mode control was found to be more effective in maintaining tighter numerical values on the constraints. The formulation and the control methodology, presented here, are applicable to multilink rigid body systems that include modeling of skeletal dynamics of human, humanoid, or robots , . As a result, complex motions as in surfboarding, skateboarding, takeoff, landing, and airborne phases of movements or other more complex maneuvers , , can become more feasible for computer studies.…”

Section: Discussionmentioning

confidence: 99%

“…The second objective is to carry out point‐to‐point movement with a desirable speed. The second objective is more complex and requires development of a number of technical steps . Storage of information about a large number of terminal arm positions in space as an adequately fine grid, storage for each point, of the nine Bryant angles that becomes available, through learning, of the stretches of all muscles involved in holding the position, and development of linear trajectories from the initial position to a desirable terminal position based on a desired velocity of movement.…”

Section: Constrained Motionmentioning

confidence: 99%

“…Following the notation and the development of the three body system , , we briefly present the reduction and the projection that result in the nine‐dimensional equations of the system. Let R 1 and S 1 be, respectively, the coordinate vectors of the contact point of the arm with the shoulder and the forearm, expressed in the upper arm coordinate system.…”

Section: Appendix Amentioning

confidence: 99%

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Constrained rigid body stability and control

Hemami

Utkin

2014

Int. J. Robust. Nonlinear Control

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Stability and control of a single or three-body constrained system are considered. Several different types of constrained motion are among them: the impact phase of a free body colliding with the ground, contact with a stationary or moving platform, movement on a frictionless surface or multiple rigid bodies connected by holonomic constraints, and moving as in the human arm. The single body constrained system is controlled by sliding mode control. The stability of the three-link arm at arbitrary equilibrium points and Lyapunov stability in the vicinity of the equilibrium point are formulated. The formulation and derivations are by computational tools, that is, state space analysis and matrices. The approach can easily be extended to larger systems with many rigid bodies such as skeletal systems. The formulation minimizes human labor in formulations and simulations. The sliding mode behavior of the model on a frictionless surface and the three link arm stability are demonstrated via simulation. Challenges for application to natural systems are outlined.H. HEMAMI AND V. I. UTKIN the computations can be inferred by simulation. The construction of the energy function in single or multirigid body systems is guided by the clear definition of the kinetic and potential energies in mechanics [10], in robotics [11][12][13], and human motion [14,15].Another issue worth discussing is how to combine the tools of analysis, computation, and experiment. The present formulation of contact and impact problems of a single or the three-link body system is intended to minimize human effort and relegate the bulk of the work to the computer.The dynamics of mechanical systems can be formulated by analytical methods [16][17][18], geometrical methods [9], and differential geometry. A variety of control methods may be used [8,19,20]. The performance of the controller can be evaluated by Lyapunov methods, and a number of methods exist for the construction of Lyapunov functions [21,22]. In the formulation here, the computation of constraint forces becomes simple and lends itself to better physical interpretation. This same formulation of the constrained forces leads to a better understanding of impact and contact with the ground. As stated before, the problems of impact as well as soft and hard contact and collision with objects and the environment are part of the everyday activities of humans. Impact and collision also arise in the fields of robotics [23] and mechanics [24][25][26]. Impact has been the subject of numerous studies in the past [17,27,28]. Rigid body collision [29,30], finite element methods [31], and the problem of propagation of waves in elastic or visco-elastic materials as a result of collision of the bodies [32] are notable studies. One approach in dealing with the impact problem is to assume a coefficient of restitution according to Newton and Poisson [17,33,34]. Another approach is based on elasticity and visco-elasticity [30,35,36]. Numerical methods and finite element methods are also utilized [37,38].The constrained ...

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Section: Discussionmentioning

confidence: 99%

Section: Constrained Motionmentioning

confidence: 99%

Section: Appendix Amentioning

confidence: 99%

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Constrained rigid body stability and control

Hemami

Utkin

2014

Int. J. Robust. Nonlinear Control

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“…The dynamics of the three-link rigid body system, shown in Figure 1, is presented in Hemami and Zheng (2012); Hemami and Wyman (2012). More detailed information information about the dynamics of three-dimensional systems is presented in Hemami (2002); Hemami, Dariush, and Barin (2005).…”

Section: The Three-link Systemmentioning

confidence: 99%

“…First, larger modules of systems of rigid bodies can be constructed from the dynamics of smaller sub modules (Hemami & Zheng, 2012;Hemami & Wyman, 2012). Second, forces of constraint, contact, and connection can be left in the dynamics and computed or eliminated (Hemami, Clymer, & Hemami, 2012;.…”

Section: Applications Of the Modelmentioning

confidence: 99%

Towards a Cybernetic Model of Human Movement

Hemami¹,

Tarr²,

Li³

et al. 2016

MER

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An elementary computational framework, as a first step to an eventual comprehensive model of human movement, is presented. Such a model in conjunction with anatomical, physiological and experimental studies should provide a means of verifying theoretical, experimental, and heuristic models of human movement. For this purpose, a three-dimensional three link humanoid model and a two-link planar arm model are presented to explore responses to simple external forces. Such models are useful for a variety of current applications in art, science, engineering, sports, and medicine. The models are subjected to kinesthetic, auditory, and visual inputs. Creating desired behavior is the goal. The models are flexible, modular, and expandable for inclusion of more segments, muscles, and sensory and central nervous system (CNS) processing. Three computer simulations are presented: rhythmic maneuvers of the three link model, in response to periodic motion of a platform, the planar arm producing visually observed alphabet-like characters in response to visual inputs, and processing of music to provide rhythms for a three-link dance.

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Central mechanisms for force and motion—Towards computational synthesis of human movement

Hemami

Dariush

2012

Neural Networks

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A three-link module for modular dynamics and control of high-dimensional humanoids

Cited by 5 publications

References 19 publications

Constrained rigid body stability and control

Constrained rigid body stability and control

Towards a Cybernetic Model of Human Movement

Central mechanisms for force and motion—Towards computational synthesis of human movement

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