Simulation of the Humanoid Running Robot Based on ADAMS

Wei, Hangxin; Wu, Wenzhuo; Ming-zhi, Liu

doi:10.1109/uksim.2008.24

Cited by 2 publications

(2 citation statements)

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“…In designing the trajectories of the pedestrian’s arm and lower body, the assumption is that they do not interfere with the body. The method of cubic spline curves and the centroid trajectory of the pedestrian are combined into a set of nonlinear equations [ 31 , 32 , 33 ], and the position, velocity, and acceleration of each joint at every moment are obtained by solving these equations, thereby realizing the running of the pedestrian, which ignores the degree of freedom of the elbow joint with the arm.…”

Section: Methodsmentioning

confidence: 99%

“…In designing the trajectories of the pedestrian's arm and lower body, the assumption is that they do not interfere with the body. The method of cubic spline curves and the centroid trajectory of the pedestrian are combined into a set of nonlinear equations [31][32][33], and the position, velocity, and acceleration of each joint at every moment are obtained by solving these equations, thereby realizing the running of the pedestrian, which ignores the degree of freedom of the elbow joint with the arm. Using the rigid-flexible coupled digital HBM, the unknown kinematic parameters are obtained using the multi-body dynamics software MADYMO according to the humanoid robot method and then incorporated into the HBM to simulate and capture 10 postures of the running model (Figure 7).…”

Section: Realization Of Pedestrian Running Statementioning

confidence: 99%

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Reconstruction of a Car–Running Pedestrian Accident Based on a Humanoid Robot Method

Wang,

Wei,

Wei

et al. 2023

Sensors

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Due to the characteristics of multibody (MB) and finite element (FE) digital human body models (HBMs), the reconstruction of running pedestrians (RPs) remains a major challenge in traffic accidents (TAs) and new innovative methods are needed. This study presents a novel approach for reconstructing moving pedestrian TAs based on a humanoid robot method to improve the accuracy of analyzing dynamic vehicle–pedestrian collision accidents. Firstly, we applied the theory of humanoid robots to the corresponding joints and centroids of the TNO HBM and implemented the pedestrian running process. Secondly, we used rigid–flexible coupling HBMs to build pedestrians, which can not only simulate running but also analyze human injuries. Then, we validated the feasibility of the RP reconstruction method by comparing the simulated dynamics with the pedestrian in the accident. Next, we extracted the velocity and posture of the pedestrian at the moment of collision and further validated the modeling method through a comparison of human injuries and forensic autopsy results. Finally, by comparing two other cases, we can conclude that there are relative errors in both the pedestrian injury results and the rest position. This comparative analysis is helpful for understanding the differences in injury characteristics between the running pedestrian and the other two cases in TAs.

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Section: Methodsmentioning

confidence: 99%

Section: Realization Of Pedestrian Running Statementioning

confidence: 99%