Forward dynamics simulation and optimization of walking robots and humans:
Saved in:
| Main Author: | |
|---|---|
| Format: | Thesis Book |
| Language: | English |
| Published: |
Düsseldorf
VDI-Verl.
2007
|
| Edition: | Als Ms. gedr. |
| Series: | Fortschrittberichte VDI
Reihe 8, Meß-, Steuerungs- und Regelungstechnik ; 1133 |
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Physical Description: | VI, 114 S. Ill., graph. Darst. 21 cm |
| ISBN: | 9783185133084 |
Staff View
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| 245 | 1 | 0 | |a Forward dynamics simulation and optimization of walking robots and humans |c Maximilian Stelzer |
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Record in the Search Index
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|---|---|
| adam_text | Contents
1 Introduction 1
1.1 Motivation: Simulation-based Motion Optimization for Legged Robots and Humans 1
1.2 Application Scenarios of Legged Robot and Human Motion 3
1.3 Current State of Research 5
1.4 Aims and Outline 11
2 Modeling the Motion Dynamics of Walking Robots and Humans 13
2.1 Walking Robots 13
2.1.1 Multibody Systems 13
2.1.2 Motor and Gear Models 16
2.1.3 GaitPatterns 16
2.1.4 Postural Stability 18
2.2 Humans 21
2.2.1 Bones 21
2.2.2 Wobbling Masses 22
2.2.3 Muscles, Tendon and Ligament 23
3 Multibody Dynamics Algorithms and Object Orientated Computation 32
3.1 Articulated Body Algorithm ABA 33
3.1.1 Forward Dynamics Algorithm 33
3.1.2 Contact Algorithm 33
3.1.3 Collision Algorithm 35
3.2 Reduced Dynamics Algorithm 35
3.3 Object Oriented Approach 36
4 Optimal Control Methods for Problems of Motion Dynamics ¦
4.1 General Optimal Control Problem
4.2 Direct Collocation 40
4.2.1 Discretization ¦ . ¦ • ¦ •
4.2.2 Sequential Quadratic Programming • • • •
4.3 Adaption to Systems of Second Order ¦ • • •
4.3.1 Preliminaries • ¦ . ¦
4.3.2 Discretization of the Problem • • • •
47
4.3.3 Application to the Optimal Control Problem ¦ • • ¦
4.4 Identification of Objective Functions for Muscle Control • • • •
48
4.4.1 Problem Statement
4.4.2 Sensitivity Analysis of the Discretized Optimal Control Problem . • • • •
4.4.3 Identification Methods • • ¦ 5°
5 Problems, Models and Results
5.1 Walking Robots . . • 52
5.1.1 Gait Optimization for a Quadruped Robot . . ¦
59
5.1.2 Gait Optimization for a Biped Robot ¦ •
5.1.3 Walking Optimization for a Biologically Inspired Biped Robot ..••••
5.2 Human Biodynamics . . •
5.2.1 Kicking Motion . . ¦
85
5.2.2 Jumping Motion • ¦ ¦
95
5.3 Identification of Objective Functions for Muscle Control in Human Motion • • ¦
95
5.3.1 Re-Identification from Computed Data • • •
97
5.3.2 Test with Identification from Experimental Data • ¦ ¦
99
6 Summary and Conclusion
7 Zusammenfassung (Summary in German)
Bibliography 105
|
| adam_txt |
Contents
1 Introduction 1
1.1 Motivation: Simulation-based Motion Optimization for Legged Robots and Humans 1
1.2 Application Scenarios of Legged Robot and Human Motion 3
1.3 Current State of Research 5
1.4 Aims and Outline 11
2 Modeling the Motion Dynamics of Walking Robots and Humans 13
2.1 Walking Robots 13
2.1.1 Multibody Systems 13
2.1.2 Motor and Gear Models 16
2.1.3 GaitPatterns 16
2.1.4 Postural Stability 18
2.2 Humans 21
2.2.1 Bones 21
2.2.2 Wobbling Masses 22
2.2.3 Muscles, Tendon and Ligament 23
3 Multibody Dynamics Algorithms and Object Orientated Computation 32
3.1 Articulated Body Algorithm ABA 33
3.1.1 Forward Dynamics Algorithm 33
3.1.2 Contact Algorithm 33
3.1.3 Collision Algorithm 35
3.2 Reduced Dynamics Algorithm 35
3.3 Object Oriented Approach 36
4 Optimal Control Methods for Problems of Motion Dynamics ¦"
4.1 General Optimal Control Problem "
4.2 Direct Collocation 40
4.2.1 Discretization ¦ . ¦ • ¦ •
4.2.2 Sequential Quadratic Programming • • • •
4.3 Adaption to Systems of Second Order ¦ • • •
4.3.1 Preliminaries • ¦ . ¦
4.3.2 Discretization of the Problem • • • •
47
4.3.3 Application to the Optimal Control Problem ¦ • • ¦
4.4 Identification of Objective Functions for Muscle Control • • • •
48
4.4.1 Problem Statement
4.4.2 Sensitivity Analysis of the Discretized Optimal Control Problem . • • • •
4.4.3 Identification Methods • • ¦ 5°
5 Problems, Models and Results
5.1 Walking Robots . . • 52
5.1.1 Gait Optimization for a Quadruped Robot . . ¦
59
5.1.2 Gait Optimization for a Biped Robot ' ¦ • '
5.1.3 Walking Optimization for a Biologically Inspired Biped Robot .••••
5.2 Human Biodynamics . . •
5.2.1 Kicking Motion . . ¦
85
5.2.2 Jumping Motion • ¦ ¦ '
95
5.3 Identification of Objective Functions for Muscle Control in Human Motion • • ¦
95
5.3.1 Re-Identification from Computed Data • • • '
97
5.3.2 Test with Identification from Experimental Data • ¦ ¦ '
99
6 Summary and Conclusion
7 Zusammenfassung (Summary in German)
Bibliography 105 |
| any_adam_object | 1 |
| any_adam_object_boolean | 1 |
| author | Stelzer, Maximilian |
| author_facet | Stelzer, Maximilian |
| author_role | aut |
| author_sort | Stelzer, Maximilian |
| author_variant | m s ms |
| building | Verbundindex |
| bvnumber | BV023171531 |
| classification_rvk | ZQ 6230 |
| ctrlnum | (OCoLC)198980896 (DE-599)BVBBV023171531 |
| dewey-full | 629.8932011 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8932011 |
| dewey-search | 629.8932011 |
| dewey-sort | 3629.8932011 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Maschinenbau / Maschinenwesen Medizin Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| discipline_str_mv | Maschinenbau / Maschinenwesen Medizin Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | Als Ms. gedr. |
| format | Thesis Book |
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| genre | (DE-588)4113937-9 Hochschulschrift gnd-content |
| genre_facet | Hochschulschrift |
| id | DE-604.BV023171531 |
| illustrated | Illustrated |
| index_date | 2024-07-02T19:57:54Z |
| indexdate | 2024-07-09T21:12:13Z |
| institution | BVB |
| isbn | 9783185133084 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-016358195 |
| oclc_num | 198980896 |
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| owner_facet | DE-210 DE-91 DE-BY-TUM DE-634 DE-83 |
| physical | VI, 114 S. Ill., graph. Darst. 21 cm |
| publishDate | 2007 |
| publishDateSearch | 2007 |
| publishDateSort | 2007 |
| publisher | VDI-Verl. |
| record_format | marc |
| series | Fortschrittberichte VDI |
| series2 | Fortschrittberichte VDI : Reihe 8, Meß-, Steuerungs- und Regelungstechnik |
| spelling | Stelzer, Maximilian Verfasser aut Forward dynamics simulation and optimization of walking robots and humans Maximilian Stelzer Als Ms. gedr. Düsseldorf VDI-Verl. 2007 VI, 114 S. Ill., graph. Darst. 21 cm txt rdacontent n rdamedia nc rdacarrier Fortschrittberichte VDI : Reihe 8, Meß-, Steuerungs- und Regelungstechnik 1133 Zugl.: Darmstadt, Techn. Univ., Diss., 2007 Mehrkörpersystem (DE-588)4038390-8 gnd rswk-swf Bewegungsablauf (DE-588)4145130-2 gnd rswk-swf Optimale Kontrolle (DE-588)4121428-6 gnd rswk-swf Biodynamik (DE-588)4145595-2 gnd rswk-swf Dynamische Modellierung (DE-588)4139122-6 gnd rswk-swf Biomechanische Analyse (DE-588)4122931-9 gnd rswk-swf Mensch (DE-588)4038639-9 gnd rswk-swf Bahnplanung (DE-588)4267628-9 gnd rswk-swf Simulation (DE-588)4055072-2 gnd rswk-swf Schreitroboter (DE-588)4281192-2 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Schreitroboter (DE-588)4281192-2 s Bahnplanung (DE-588)4267628-9 s Mehrkörpersystem (DE-588)4038390-8 s Dynamische Modellierung (DE-588)4139122-6 s Biomechanische Analyse (DE-588)4122931-9 s Optimale Kontrolle (DE-588)4121428-6 s DE-604 Mensch (DE-588)4038639-9 s Bewegungsablauf (DE-588)4145130-2 s Biodynamik (DE-588)4145595-2 s Simulation (DE-588)4055072-2 s Fortschrittberichte VDI Reihe 8, Meß-, Steuerungs- und Regelungstechnik ; 1133 (DE-604)BV000882482 1133 HBZ Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=016358195&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Stelzer, Maximilian Forward dynamics simulation and optimization of walking robots and humans Fortschrittberichte VDI Mehrkörpersystem (DE-588)4038390-8 gnd Bewegungsablauf (DE-588)4145130-2 gnd Optimale Kontrolle (DE-588)4121428-6 gnd Biodynamik (DE-588)4145595-2 gnd Dynamische Modellierung (DE-588)4139122-6 gnd Biomechanische Analyse (DE-588)4122931-9 gnd Mensch (DE-588)4038639-9 gnd Bahnplanung (DE-588)4267628-9 gnd Simulation (DE-588)4055072-2 gnd Schreitroboter (DE-588)4281192-2 gnd |
| subject_GND | (DE-588)4038390-8 (DE-588)4145130-2 (DE-588)4121428-6 (DE-588)4145595-2 (DE-588)4139122-6 (DE-588)4122931-9 (DE-588)4038639-9 (DE-588)4267628-9 (DE-588)4055072-2 (DE-588)4281192-2 (DE-588)4113937-9 |
| title | Forward dynamics simulation and optimization of walking robots and humans |
| title_auth | Forward dynamics simulation and optimization of walking robots and humans |
| title_exact_search | Forward dynamics simulation and optimization of walking robots and humans |
| title_exact_search_txtP | Forward dynamics simulation and optimization of walking robots and humans |
| title_full | Forward dynamics simulation and optimization of walking robots and humans Maximilian Stelzer |
| title_fullStr | Forward dynamics simulation and optimization of walking robots and humans Maximilian Stelzer |
| title_full_unstemmed | Forward dynamics simulation and optimization of walking robots and humans Maximilian Stelzer |
| title_short | Forward dynamics simulation and optimization of walking robots and humans |
| title_sort | forward dynamics simulation and optimization of walking robots and humans |
| topic | Mehrkörpersystem (DE-588)4038390-8 gnd Bewegungsablauf (DE-588)4145130-2 gnd Optimale Kontrolle (DE-588)4121428-6 gnd Biodynamik (DE-588)4145595-2 gnd Dynamische Modellierung (DE-588)4139122-6 gnd Biomechanische Analyse (DE-588)4122931-9 gnd Mensch (DE-588)4038639-9 gnd Bahnplanung (DE-588)4267628-9 gnd Simulation (DE-588)4055072-2 gnd Schreitroboter (DE-588)4281192-2 gnd |
| topic_facet | Mehrkörpersystem Bewegungsablauf Optimale Kontrolle Biodynamik Dynamische Modellierung Biomechanische Analyse Mensch Bahnplanung Simulation Schreitroboter Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=016358195&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV000882482 |
| work_keys_str_mv | AT stelzermaximilian forwarddynamicssimulationandoptimizationofwalkingrobotsandhumans |