Optimal throwing motion planning for a biped human mechanism

Joo H. Kim, Yujiang Xiang, Jingzhou Yang, Karim Abdel-Malek, Jasbir S. Arora

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

An optimal motion planning formulation of throwing for a biped human mechanism is proposed as an extension of a previous study. The unique characteristics of the throwing task - highly redundant, highly nonlinear, and highly dynamic - are addressed in this presentation within the framework of multibody dynamics and optimization. To generate physically feasible throwing motions in a fully predictive method without input reference, rigorous dynamic models are associated with the constraints. Given the target location and the object mass, the algorithm outputs the motion, required actuator torques, release parameters, balance criterion, and ground reaction forces. Overarm and sidearm throwing motions are generated as optimal solutions, which demonstrate valid kinematic and kinetic cause-effect relations. Key words: motion planning, dynamics, optimization, Zero-Moment Point, throwing.

Original languageEnglish
Title of host publicationProceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
Pages929-936
Number of pages8
EditionPART B
DOIs
StatePublished - 2010
Event2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009 - San Diego, CA, United States
Duration: Aug 30 2009Sep 2 2009

Publication series

NameProceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
NumberPART B
Volume7

Conference

Conference2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009
CountryUnited States
CitySan Diego, CA
Period08/30/0909/2/09

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  • Cite this

    Kim, J. H., Xiang, Y., Yang, J., Abdel-Malek, K., & Arora, J. S. (2010). Optimal throwing motion planning for a biped human mechanism. In Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009 (PART B ed., pp. 929-936). (Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009; Vol. 7, No. PART B). https://doi.org/10.1115/DETC2009-87513