Dynamic Optimization of Human Stair-Climbing Motion
Abstract
The objective of this paper is to present our method of predicting and simulating visually realistic and dynamically consistent human stair-climbing motion. The digital human is modeled as a 55-degrees of freedom branched mechanical system with associated human anthropometry-based link lengths, mass moments of inertia, and centers of gravity. The joint angle profiles are determined using a B-spline-based parametric optimization technique subject to different physics-based, task-based, and environment-based constraints. The formulation offers the ability to study effects of the magnitude and location of external forces on the resulting joint angle profiles and joint torque profiles. Several virtual experiments are conducted using this optimization-based approach and results are presented.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jun 01, 2008
- Accession Number
- ADA541904
Entities
People
- Amos Patrick
- Anith Mathai
- Hyun-joon Chung
- Hyun-jung Kwon
- John P. Obusek
- Joo Kim
- Rajankumar Bhatt
- Rajeev Penmatsa
- Salam Rahmatalla
- Timothy Marler
- Yujiang Xiang
Organizations
- United States Army Soldier Systems Center