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Analysis And Generation Of Highly Dynamic Motions Of Anthropomorphic Systems
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Book Synopsis Analysis and Generation of Highly Dynamic Motions of Anthropomorphic Systems by : Galo Xavier Maldonado Toro
Download or read book Analysis and Generation of Highly Dynamic Motions of Anthropomorphic Systems written by Galo Xavier Maldonado Toro and published by . This book was released on 2017 with total page 133 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis proposes an original and interdisciplinary approach to the treatment of whole-body human movements through the synergistic utilization of biomechanics, motor control and robotics. Robust methods of biomechanics are used to record, process and analyze whole-body human motions. The Uncontrolled Manifold approach (UCM) of motor control is extended to study highly dynamic movements processed in the biomechanical study, in order to determine if hypothesized dynamic tasks are being controlled stably by the central nervous system. This extension permits also to infer a hierarchical organization of the controlled dynamic tasks. The task space formalism of motion generation in robotics is used to generate whole-body motion by taking into account the hierarchy of tasks extracted in the motor control study. This approach permits to better understand the organization of human dynamic motions and provide a new methodology to generate whole-body human motions with anthropomorphic systems. A case study of highly dynamic and complex movements of Parkour, including jumps and landings, is utilized to illustrate the proposed approach.
Book Synopsis Biomechanics of Anthropomorphic Systems by : Gentiane Venture
Download or read book Biomechanics of Anthropomorphic Systems written by Gentiane Venture and published by Springer. This book was released on 2018-08-01 with total page 310 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mechanical laws of motion were applied very early for better understanding anthropomorphic action as suggested in advance by Newton «For from hence are easily deduced the forces of machines, which are compounded of wheels, pullies, levers, cords, and weights, ascending directly or obliquely, and other mechanical powers; as also the force of the tendons to move the bones of animals». In the 19th century E.J. Marey and E. Muybridge introduced chronophotography to scientifically investigate animal and human movements. They opened the field of motion analysis by being the first scientists to correlate ground reaction forces with kinetics. Despite of the apparent simplicity of a given skilled movement, the organization of the underlying neuro-musculo-skeletal system remains unknown. A reason is the redundancy of the motor system: a given action can be realized by different muscle and joint activity patterns, and the same underlying activity may give rise to several movements. After the pioneering work of N. Bernstein in the 60’s on the existence of motor synergies, numerous researchers «walking on the border» of their disciplines tend to discover laws and principles underlying the human motions and how the brain reduces the redundancy of the system. These synergies represent the fundamental building blocks composing complex movements. In robotics, researchers face the same redundancy and complexity challenges as the researchers in life sciences. This book gathers works of roboticists and researchers in biomechanics in order to promote an interdisciplinary research on anthropomorphic systems at large and on humanoid robotics in particular.
Book Synopsis Generating Whole Body Movements for Dynamics Anthropomorphic Systems Under Constraints by : Layale Saab
Download or read book Generating Whole Body Movements for Dynamics Anthropomorphic Systems Under Constraints written by Layale Saab and published by . This book was released on 2011 with total page 193 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis studies the question of whole body motion generation for anthropomorphic systems. Within this work, the problem of modeling and control is considered by addressing the difficult issue of generating human-like motion. First, a dynamic model of the humanoid robot HRP-2 is elaborated based on the recursive Newton-Euler algorithm for spatial vectors. A new dynamic control scheme is then developed adopting a cascade of quadratic programs (QP) optimizing the cost functions and computing the torque control while satisfying equality and inequality constraints. The cascade of the quadratic programs is defined by a stack of tasks associated to a priority order. Next, we propose a unified formulation of the planar contact constraints, and we demonstrate that the proposed method allows taking into account multiple non coplanar contacts and generalizes the common ZMP constraint when only the feet are in contact with the ground. Then, we link the algorithms of motion generation resulting from robotics to the human motion capture tools by developing an original method of motion generation aiming at the imitation of the human motion. This method is based on the reshaping of the captured data and the motion editing by using the hierarchical solver previously introduced and the definition of dynamic tasks and constraints. This original method allows adjusting a captured human motion in order to reliably reproduce it on a humanoid while respecting its own dynamics. Finally, in order to simulate movements resembling to those of humans, we develop an anthropomorphic model with higher number of degrees of freedom than the one of HRP-2. The generic solver is used to simulate motion on this new model. A sequence of tasks is defined to describe a scenario played by a human. By a simple qualitative analysis of motion, we demonstrate that taking into account the dynamics provides a natural way to generate human-like movements.
Book Synopsis Scientific and Technical Aerospace Reports by :
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1995 with total page 488 pages. Available in PDF, EPUB and Kindle. Book excerpt: Lists citations with abstracts for aerospace related reports obtained from world wide sources and announces documents that have recently been entered into the NASA Scientific and Technical Information Database.
Download or read book NBS Special Publication written by and published by . This book was released on 1968 with total page 554 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Human Robotics written by Etienne Burdet and published by MIT Press. This book was released on 2013-09-13 with total page 291 pages. Available in PDF, EPUB and Kindle. Book excerpt: A synthesis of biomechanics and neural control that draws on recent advances in robotics to address control problems solved by the human sensorimotor system. This book proposes a transdisciplinary approach to investigating human motor control that synthesizes musculoskeletal biomechanics and neural control. The authors argue that this integrated approach—which uses the framework of robotics to understand sensorimotor control problems—offers a more complete and accurate description than either a purely neural computational approach or a purely biomechanical one. The authors offer an account of motor control in which explanatory models are based on experimental evidence using mathematical approaches reminiscent of physics. These computational models yield algorithms for motor control that may be used as tools to investigate or treat diseases of the sensorimotor system and to guide the development of algorithms and hardware that can be incorporated into products designed to assist with the tasks of daily living. The authors focus on the insights their approach offers in understanding how movement of the arm is controlled and how the control adapts to changing environments. The book begins with muscle mechanics and control, progresses in a logical manner to planning and behavior, and describes applications in neurorehabilitation and robotics. The material is self-contained, and accessible to researchers and professionals in a range of fields, including psychology, kinesiology, neurology, computer science, and robotics.
Book Synopsis Robotics Research by : Nancy M. Amato
Download or read book Robotics Research written by Nancy M. Amato and published by Springer Nature. This book was released on 2019-11-28 with total page 1058 pages. Available in PDF, EPUB and Kindle. Book excerpt: ISRR, the "International Symposium on Robotics Research", is one of robotics pioneering Symposia, which has established over the past two decades some of the field's most fundamental and lasting contributions. This book presents the results of the eighteenth edition of "Robotics Research" ISRR17, offering a collection of a broad range of topics in robotics. This symposium took place in Puerto Varas, Chile from December 11th to December 14th, 2017. The content of the contributions provides a wide coverage of the current state of robotics research, the advances and challenges in its theoretical foundation and technology basis, and the developments in its traditional and new emerging areas of applications. The diversity, novelty, and span of the work unfolding in these areas reveal the field's increased maturity and expanded scope and define the state of the art of robotics and its future direction.
Book Synopsis Dance Notations and Robot Motion by : Jean-Paul Laumond
Download or read book Dance Notations and Robot Motion written by Jean-Paul Laumond and published by Springer. This book was released on 2015-11-24 with total page 433 pages. Available in PDF, EPUB and Kindle. Book excerpt: How and why to write a movement? Who is the writer? Who is the reader? They may be choreographers working with dancers. They may be roboticists programming robots. They may be artists designing cartoons in computer animation. In all such fields the purpose is to express an intention about a dance, a specific motion or an action to perform, in terms of intelligible sequences of elementary movements, as a music score that would be devoted to motion representation. Unfortunately there is no universal language to write a motion. Motion languages live together in a Babel tower populated by biomechanists, dance notators, neuroscientists, computer scientists, choreographers, roboticists. Each community handles its own concepts and speaks its own language. The book accounts for this diversity. Its origin is a unique workshop held at LAAS-CNRS in Toulouse in 2014. Worldwide representatives of various communities met there. Their challenge was to reach a mutual understanding allowing a choreographer to access robotics concepts, or a computer scientist to understand the subtleties of dance notation. The liveliness of this multidisciplinary meeting is reflected by the book thank to the willingness of authors to share their own experiences with others.
Download or read book Course Notes written by and published by . This book was released on 1990 with total page 268 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Humanoid Robotics: A Reference by : Prahlad Vadakkepat
Download or read book Humanoid Robotics: A Reference written by Prahlad Vadakkepat and published by Springer. This book was released on 2017-02-14 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Humanoid Robotics provides a comprehensive compilation of developments in the conceptualization, design and development of humanoid robots and related technologies. Human beings have built the environment they occupy (living spaces, instruments and vehicles) to suit two-legged systems. Building systems, especially in robotics, that are compatible with the well-established, human-based surroundings and which could naturally interact with humans is an ultimate goal for all researches and engineers. Humanoid Robots are systems (i.e. robots) which mimic human behavior. Humanoids provide a platform to study the construction of systems that behave and interact like humans. A broad range of applications ranging from daily housework to complex medical surgery, deep ocean exploration, and other potentially dangerous tasks are possible using humanoids. In addition, the study of humanoid robotics provides a platform to understand the mechanisms and offers a physical visual of how humans interact, think, and react with the surroundings and how such behaviors could be reassembled and reconstructed. Currently, the most challenging issue with bipedal humanoids is to make them balance on two legs, The purportedly simple act of finding the best balance that enables easy walking, jumping and running requires some of the most sophisticated development of robotic systems- those that will ultimately mimic fully the diversity and dexterity of human beings. Other typical human-like interactions such as complex thought and conversations on the other hand, also pose barriers for the development of humanoids because we are yet to understand fully the way in which we humans interact with our environment and consequently to replicate this in humanoids.
Download or read book Applied Mechanics Reviews written by and published by . This book was released on 1988 with total page 384 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Society Records by : American Society of Mechanical Engineers
Download or read book Society Records written by American Society of Mechanical Engineers and published by . This book was released on 1973 with total page 944 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book NASA Tech Briefs written by and published by . This book was released on 1991 with total page 494 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Experimental Robotics VIII by : Bruno Siciliano
Download or read book Experimental Robotics VIII written by Bruno Siciliano and published by Springer. This book was released on 2003-09-05 with total page 671 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book collects papers on the state of th eart in experimental robotics. Experimental Robotics is at the core of validating robotics research for both its systems science and theoretical foundations. Because robotics experiments are carried out on physical, complex machines whose controllers are subject to uncertainty, devising meaningful experiments and collecting statistically significant results pose important and unique challenges in robotics. Robotics experiments serve as a unifying theme for robotics system science and algorithmic foundations. These observations have led to the creation of the International Symposia on Experimental Robotics. The papers of the book were presented at the 2002 International Symposium on Experimental Robotics.
Book Synopsis Mechanics of Terrestrial Locomotion by : Klaus Zimmermann
Download or read book Mechanics of Terrestrial Locomotion written by Klaus Zimmermann and published by Springer Science & Business Media. This book was released on 2009-06-12 with total page 304 pages. Available in PDF, EPUB and Kindle. Book excerpt: This text on artificial locomotion systems includes video files of prototypes of wheeled and worm-like locomotion systems, E-learning software on the mechanical background, and MAPLE programs for the dynamic solution of locomotion systems.
Book Synopsis Annual Index/abstracts of SAE Technical Papers by :
Download or read book Annual Index/abstracts of SAE Technical Papers written by and published by . This book was released on 2007 with total page 1218 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Energy Research Abstracts written by and published by . This book was released on 1994 with total page 586 pages. Available in PDF, EPUB and Kindle. Book excerpt: Semiannual, with semiannual and annual indexes. References to all scientific and technical literature coming from DOE, its laboratories, energy centers, and contractors. Includes all works deriving from DOE, other related government-sponsored information, and foreign nonnuclear information. Arranged under 39 categories, e.g., Biomedical sciences, basic studies; Biomedical sciences, applied studies; Health and safety; and Fusion energy. Entry gives bibliographical information and abstract. Corporate, author, subject, report number indexes.
