Optimization-based prediction of asymmetric human gait
Y Xiang, JS Arora, K Abdel-Malek - Journal of biomechanics, 2011 - Elsevier
An optimization-based formulation and solution method are presented to predict asymmetric
human gait for a large-scale skeletal model. Predictive dynamics approach is used in which …
human gait for a large-scale skeletal model. Predictive dynamics approach is used in which …
Hybrid predictive dynamics: a new approach to simulate human motion
Y Xiang, JS Arora, K Abdel-Malek - Multibody System Dynamics, 2012 - Springer
A new methodology, called hybrid predictive dynamics (HPD), is introduced in this work to
simulate human motion. HPD is defined as an optimization-based motion prediction …
simulate human motion. HPD is defined as an optimization-based motion prediction …
Optimization of throwing motion planning for whole-body humanoid mechanism: Sidearm and maximum distance
JH Kim - Mechanism and Machine Theory, 2011 - Elsevier
Throwing is a rapid coordinated movement with high configuration and actuation
redundancies. Based on a previous work, this paper advances a numerical framework that …
redundancies. Based on a previous work, this paper advances a numerical framework that …
Dynamic motion planning of overarm throw for a biped human multibody system
We propose a motion planning formulation of overarm throw for a 55-degree-of-freedom
biped human multibody system. The unique characteristics of the throwing task—highly …
biped human multibody system. The unique characteristics of the throwing task—highly …
Computational evaluation of load carriage effects on gait balance stability
Evaluating the effects of load carriage on gait balance stability is important in various
applications. However, their quantification has not been rigorously addressed in the current …
applications. However, their quantification has not been rigorously addressed in the current …
Identification of balanced states for multi-segmental legged robots using reduced-order model
C Mummolo, L Mangialardi… - 2015 IEEE-RAS 15th …, 2015 - ieeexplore.ieee.org
A general construction framework is introduced to provide three-dimensional balance
criteria for multi-segmental legged robots. The approach is based on a reduced-order …
criteria for multi-segmental legged robots. The approach is based on a reduced-order …
Concurrent motion planning and reaction load distribution for redundant dynamic systems under external holonomic constraints
Dynamics of mechanical systems during motion usually involves reaction forces and
moments due to the interaction with external objects or constraints from the environment …
moments due to the interaction with external objects or constraints from the environment …
Two-dimensional team lifting prediction with different box weights
A novel multibody dynamics modeling method is proposed for two-dimensional (2D) team
lifting prediction. The box itself is modeled as a floating-base rigid body in Denavit …
lifting prediction. The box itself is modeled as a floating-base rigid body in Denavit …
Numerical construction of balanced state manifold for single-support legged mechanism in sagittal plane
Legged mechanisms can walk and run but sometimes encounter a risk of falling. In this
article, a general numerical framework of balance criteria for a single-support legged …
article, a general numerical framework of balance criteria for a single-support legged …
Backward walking simulation of humans using optimization
The objective of this study is to formulate, simulate and study the backward walking motion
of a full-body skeletal digital human model using an optimization approach. Predictive …
of a full-body skeletal digital human model using an optimization approach. Predictive …