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Author: Zahra Khakpour
Publisher:
ISBN:
Category :
Languages : en
Pages : 186
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Book Description
Khakpour, Zahra M.S.M.E., Purdue University, May 2017. Multibody Dynamics Model of A Full Human Body For Simulating Walking, Major Professor: Hazim El-Mounayri. Bipedal robotics is a relatively new research area which is concerned with creating walking robots which have mobility and agility characteristics approaching those of humans. Also, in general, simulation of bipedal walking is important in many other applications such as: design and testing of orthopedic implants; testing human walking rehabilitation strategies and devices; design of equipment and facilities for human/robot use/interaction; design of sports equipment; and improving sports performance & reducing injury. One of the main technical challenges in that bipedal robotics area is developing a walking control strategy which results in a stable and balanced upright walking gait of the robot on level as well as non-level (sloped/rough) terrains. In this thesis the following aspects of the walking control strategy are developed and tested in a high-fidelity multibody dynamics model of a humanoid body model: 1. Kinematic design of a walking gait using cubic Hermite splines to specify the motion of the center of the foot. 2. Inverse kinematics to compute the legs joint angles necessary to generate the walking gait. 3. Inverse dynamics using rotary actuators at the joints with PD (Proportional-Derivative) controllers to control the motion of the leg links. The thee-dimensional multibody dynamics model is built using the DIS (Dynamic Interactions Simulator) code. It consists of 42 rigid bodies representing the legs, hip, spine, ribs, neck, arms, and head. The bodies are connected using 42 revolute joints with a rotational actuator along with a PD controller at each joint. A penalty normal contact force model along with a polygonal contact surface representing the bottom of each foot is used to model contact between the foot and the terrain. Friction is modeled using an asperity-based friction model which approximates Coulomb friction using a variable anchor-point spring in parallel with a velocity dependent friction law. In this thesis, it is assumed in the model that a balance controller already exists to ensure that the walking motion is balanced (i.e. that the robot does not tip over). A multi-body dynamic model of the full human body is developed and the controllers are designed to simulate the walking motion. This includes the design of the geometric model, development of the control system in kinematics approach, and the simulation setup.
Author: Zahra Khakpour
Publisher:
ISBN:
Category :
Languages : en
Pages : 186
Get Book Here
Book Description
Khakpour, Zahra M.S.M.E., Purdue University, May 2017. Multibody Dynamics Model of A Full Human Body For Simulating Walking, Major Professor: Hazim El-Mounayri. Bipedal robotics is a relatively new research area which is concerned with creating walking robots which have mobility and agility characteristics approaching those of humans. Also, in general, simulation of bipedal walking is important in many other applications such as: design and testing of orthopedic implants; testing human walking rehabilitation strategies and devices; design of equipment and facilities for human/robot use/interaction; design of sports equipment; and improving sports performance & reducing injury. One of the main technical challenges in that bipedal robotics area is developing a walking control strategy which results in a stable and balanced upright walking gait of the robot on level as well as non-level (sloped/rough) terrains. In this thesis the following aspects of the walking control strategy are developed and tested in a high-fidelity multibody dynamics model of a humanoid body model: 1. Kinematic design of a walking gait using cubic Hermite splines to specify the motion of the center of the foot. 2. Inverse kinematics to compute the legs joint angles necessary to generate the walking gait. 3. Inverse dynamics using rotary actuators at the joints with PD (Proportional-Derivative) controllers to control the motion of the leg links. The thee-dimensional multibody dynamics model is built using the DIS (Dynamic Interactions Simulator) code. It consists of 42 rigid bodies representing the legs, hip, spine, ribs, neck, arms, and head. The bodies are connected using 42 revolute joints with a rotational actuator along with a PD controller at each joint. A penalty normal contact force model along with a polygonal contact surface representing the bottom of each foot is used to model contact between the foot and the terrain. Friction is modeled using an asperity-based friction model which approximates Coulomb friction using a variable anchor-point spring in parallel with a velocity dependent friction law. In this thesis, it is assumed in the model that a balance controller already exists to ensure that the walking motion is balanced (i.e. that the robot does not tip over). A multi-body dynamic model of the full human body is developed and the controllers are designed to simulate the walking motion. This includes the design of the geometric model, development of the control system in kinematics approach, and the simulation setup.
Author: Abhijit Mahapatra
Publisher: Springer Nature
ISBN: 9811529531
Category : Computers
Languages : en
Pages : 203
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Book Description
This book describes the development of an integrated approach for generating the path and gait of realistic hexapod robotic systems. It discusses in detail locomation with straight-ahead, crab and turning motion capabilities in varying terrains, like sloping surfaces, staircases, and various user-defined rough terrains. It also presents computer simulations and validation using Virtual Prototyping (VP) tools and real-world experiments. The book also explores improving solutions by applying the developed nonlinear, constrained inverse dynamics model of the system formulated as a coupled dynamical problem based on the Newton–Euler (NE) approach and taking into account realistic environmental conditions. The approach is developed on the basis of rigid multi-body modelling and the concept that there is no change in the configuration of the system in the short time span of collisions.
Author: Hans Georg Bock
Publisher: Springer
ISBN: 3319090631
Category : Computers
Languages : en
Pages : 265
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Book Description
This proceedings volume gathers a selection of papers presented at the Fifth International Conference on High Performance Scientific Computing, which took place in Hanoi on March 5-9, 2012. The conference was organized by the Institute of Mathematics of the Vietnam Academy of Science and Technology (VAST), the Interdisciplinary Center for Scientific Computing (IWR) of Heidelberg University, Ho Chi Minh City University of Technology, and the Vietnam Institute for Advanced Study in Mathematics. The contributions cover the broad interdisciplinary spectrum of scientific computing and present recent advances in theory, development of methods, and practical applications. Subjects covered include mathematical modeling; numerical simulation; methods for optimization and control; parallel computing; software development; and applications of scientific computing in physics, mechanics and biomechanics, material science, hydrology, chemistry, biology, biotechnology, medicine, sports, psychology, transport, logistics, communication networks, scheduling, industry, business and finance.
Author: Arun K. Banerjee
Publisher: John Wiley & Sons
ISBN: 1119015618
Category : Technology & Engineering
Languages : en
Pages : 312
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Book Description
Arun K. Banerjee is one of the foremost experts in the world on the subject of flexible multibody dynamics. This book describes how to build mathermatical models of multibody systems with elastic components. Examples of such systems include the human body itself, construction cranes, cares with trailers, helicopers, spacecraft deploying antennas, tethered satellites, and underwater maneuvering vehicles. This book provides methods of analysis of complex mechanical systems that can be simulated in less computer time than other methods. It equips the reader with knowledge of algorithms that provide accurate results in reduced simulation time.
Author: Bernardo Innocenti
Publisher: Academic Press
ISBN: 0128244828
Category : Technology & Engineering
Languages : en
Pages : 759
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Book Description
Human Orthopaedic Biomechanics: Fundamentals, Devices and Applications covers a wide range of biomechanical topics and fields, ranging from theoretical issues, mechanobiology, design of implants, joint biomechanics, regulatory issues and practical applications. The book teaches the fundamentals of physiological loading and constraint conditions at various parts of the musculoskeletal system. It is an ideal resource for teaching and education in courses on orthopedic biomechanics, and for engineering students engaged in these courses. In addition, all bioengineers who have an interest in orthopedic biomechanics will find this title useful as a reference, particularly early career researchers and industry professionals. Finally, any orthopedic surgeons looking to deepen their knowledge of biomechanical aspects will benefit from the accessible writing style in this title. Covers theoretical aspects (mechanics, stress analysis, constitutive laws for the various musculoskeletal tissues and mechanobiology) Presents components of different regulatory aspects, failure analysis, post-marketing and clinical trials Includes state-of-the-art methods used in orthopedic biomechanics and in designing orthopedic implants (experimental methods, finite element and rigid-body models, gait and fluoroscopic analysis, radiological measurements)
Author: Karim Abdel-Malek
Publisher: Academic Press
ISBN: 0124046010
Category : Computers
Languages : en
Pages : 296
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Book Description
Simulate realistic human motion in a virtual world with an optimization-based approach to motion prediction. With this approach, motion is governed by human performance measures, such as speed and energy, which act as objective functions to be optimized. Constraints on joint torques and angles are imposed quite easily. Predicting motion in this way allows one to use avatars to study how and why humans move the way they do, given specific scenarios. It also enables avatars to react to infinitely many scenarios with substantial autonomy. With this approach it is possible to predict dynamic motion without having to integrate equations of motion -- rather than solving equations of motion, this approach solves for a continuous time-dependent curve characterizing joint variables (also called joint profiles) for every degree of freedom. Introduces rigorous mathematical methods for digital human modelling and simulation Focuses on understanding and representing spatial relationships (3D) of biomechanics Develops an innovative optimization-based approach to predicting human movement Extensively illustrated with 3D images of simulated human motion (full color in the ebook version)
Author: Katja Mombaur
Publisher: Springer Science & Business Media
ISBN: 3642363687
Category : Technology & Engineering
Languages : en
Pages : 289
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Book Description
The model-based investigation of motions of anthropomorphic systems is an important interdisciplinary research topic involving specialists from many fields such as Robotics, Biomechanics, Physiology, Orthopedics, Psychology, Neurosciences, Sports, Computer Graphics and Applied Mathematics. This book presents a study of basic locomotion forms such as walking and running is of particular interest due to the high demand on dynamic coordination, actuator efficiency and balance control. Mathematical models and numerical simulation and optimization techniques are explained, in combination with experimental data, which can help to better understand the basic underlying mechanisms of these motions and to improve them. Example topics treated in this book are Modeling techniques for anthropomorphic bipedal walking systems Optimized walking motions for different objective functions Identification of objective functions from measurements Simulation and optimization approaches for humanoid robots Biologically inspired control algorithms for bipedal walking Generation and deformation of natural walking in computer graphics Imitation of human motions on humanoids Emotional body language during walking Simulation of biologically inspired actuators for bipedal walking machines Modeling and simulation techniques for the development of prostheses Functional electrical stimulation of walking.
Author: Josep M. Font-Llagunes
Publisher: Springer
ISBN: 3319306146
Category : Technology & Engineering
Languages : en
Pages : 323
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Book Description
This book includes selected papers from the ECCOMAS Thematic Conference on Multibody Dynamics, that took place in Barcelona, Spain, from June 29 to July 2, 2015. By having its origin in analytical and continuum mechanics, as well as in computer science and applied mathematics, multibody dynamics provides a basis for analysis and virtual prototyping of innovative applications in many fields of contemporary engineering. With the utilization of computational models and algorithms that classically belonged to different fields of applied science, multibody dynamics delivers reliable simulation platforms for diverse highly-developed industrial products such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, smart structures, biomechanical systems, and nanotechnologies.
Author: Fang Li
Publisher:
ISBN:
Category :
Languages : en
Pages : 139
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Book Description
This dissertation presents a constrained multi-body dynamics method to study musculoskeletal disorders due to human vibration. The method uses Kanes equations to develop governing equations of a multi-body human-body model subjected to constraints. Kanes equations are modified to accommodate the constraint forces. It is observed that the resulting generalized constraint force array is proportional to the transpose of the matrix of coefficients of the constraint equations. This theoretical method is used to obtain a computational simulation of a heavy equipment operator subjected to whole body vibration due to multiple shocks in a working environment. The objective of this study is to determine the mechanism of shock inducing low back pain and disorder. To this end we develop a quantitative relation between vibration excitation and human response. The simulation model consists of a 17-segment system of bodies representing the bodies of the human frame. The bodies are connected by springs and dampers simulating the human joints. The model is validated by comparing computed head transmissibility response with experimental recorded data. The dissertation discusses a multi-body sitting human body model subjected to lower amplitude and high amplitude acceleration exposures containing multiple shocks. The simulation results are compared to published data. The dissertation presents a vibration analysis procedure to conduct time domain and frequency domain human body dynamics. Finally, the dissertation presents a means of predicting health risk under different vibration environments.
Author: Andrés Kecskeméthy
Publisher: Springer
ISBN: 3030231321
Category : Technology & Engineering
Languages : en
Pages : 545
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Book Description
In this work, outstanding, recent developments in various disciplines, such as structural dynamics, multiphysic mechanics, computational mathematics, control theory, biomechanics, and computer science, are merged together in order to provide academicians and professionals with methods and tools for the virtual prototyping of complex mechanical systems. Each chapter of the work represents an important contribution to multibody dynamics, a discipline that plays a central role in the modelling, analysis, simulation and optimization of mechanical systems in a variety of fields and for a wide range of applications.
