Walking, Running and Kicking of Humanoid Robots and Humans

Abstract

Summary. In this paper key aspects and several methods for modeling, simulation, optimization and control of the locomotion of humanoid robots and humans are discussed. Similarities and differences between walking and running of humanoid robots and humans are outlined. They represent several, different steps towards the ultimate goals of understanding and predicting human motion by validated simulation models and of developing humanoid robots with human like performance in walking and running. Numerical and experimental results are presented for modelbased optimal control as well as for hardware-in-the-loop optimization of humanoid robot walking and for forward dynamics simulation and optimization of a human kicking motion.

Optimal Control for a Pitcher’s Motion Modeled as Constrained Mechanical System

“…Each muscle force is dependent on three elements: the activation level E of the nerves, the function Fi dependent on the muscle length and the contraction velocity Vm described by the Hill's function H. By means of a geometry function G(13) the inner muscle force (20) can be transformed to the external muscle force Fm as Fm = G(13) . fm, (21 ) where 1m is the length of each corresponding muscle and 13 the angle between upper and forearm (cf. Fig 3).…”

“…We choose the activation level E E [0, 1] as the control parameter for the force in the elbow joint as described in [21].…”