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Generation of human-like motion on anthropomorphic systems using inverse dynamics

Saab, Layale and Souères, Philippe and Mansard, Nicolas and Fourquet, Jean-Yves Generation of human-like motion on anthropomorphic systems using inverse dynamics. (2012) Computer Methods in Biomechanics and Biomedical Engineering, 15 (sup. 1). 156-158. ISSN 1025-5842

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Official URL: http://www.tandfonline.com/doi/abs/10.1080/10255842.2012.713723

Abstract

This work deals with the generation of human-like whole-body movements on anthropomorphic systems. We propose a general framework to generate robot movements from the definition of ordered stack of tasks and a global resolution scheme that enables to consider different kinds of constraints. We compare qualitatively the robot movements generated from this software with similar recorded human movements. We start with a direct global comparison of body movements. Then we analyze the magnitude of the reconstructed human torques and compare with the simulated robot torques during the motion.

Item Type:Article
Additional Information:Thanks to Taylor & Francis editor. The definitive version is available at http://www.tandfonline.com/doi/abs/10.1080/10255842.2012.713723 The original PDF of the article can be found at Computer Methods in Biomechanics and Biomedical Engineering website : http://www.tandfonline.com/toc/gcmb20/current
Audience (journal):International peer-reviewed journal
Uncontrolled Keywords:
Institution:French research institutions > Centre National de la Recherche Scientifique - CNRS (FRANCE)
Université de Toulouse > Institut National Polytechnique de Toulouse - INPT (FRANCE)
Université de Toulouse > Institut National des Sciences Appliquées de Toulouse - INSA (FRANCE)
Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
Université de Toulouse > Université Toulouse III - Paul Sabatier - UPS (FRANCE)
Université de Toulouse > Université Toulouse - Jean Jaurès - UT2J (FRANCE)
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Deposited By: J-Y. FOURQUET
Deposited On:28 Feb 2013 15:13

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