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A framework for motion planning of digital humans using discrete mechanics and optimal control
Geometry and Motion Planning group, Fraunhofer-Chalmers Center, Göteborg, Sweden.
Geometry and Motion Planning group, Fraunhofer-Chalmers Center, Göteborg, Sweden.
Geometry and Motion Planning group, Fraunhofer-Chalmers Center, Göteborg, Sweden.
Department of Mathematical Methods in Dynamics and Durability, Fraunhofer Institute for Industrial Mathematics, Kaiserslautern, Germany.
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2017 (Engelska)Ingår i: Proceedings of the 5th International Digital Human Modeling Symposium / [ed] Sascha Wischniewski & Thomas Alexander, Federal Institute for Occupational Safety and Health , 2017, s. 64-71Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

In this paper we present a framework for digital human modelling using discrete mechanics and optimal control. Discrete mechanics is particularly well suited for modelling the dynamics of constrained mechanical systems, which is almost always the case when considering complex human models interacting with the environment. We demonstrate that, by using recently developed recursive dynamics algorithms, we are able to efficiently use discrete mechanics in direct optimal control methods to plan for complex motions. Besides a proper mechanical model, an appropriate objective function is paramount to achieve realistic motions as a solution to an optimal control problem. Hence, several different objective functions, such as for example minimum time or minimum applied torque over the joints, are compared, and the resulting motions are analyzed and evaluated. To further improve the model, we include basic muscular models for the muscles of the shoulder, arm and wrist, and examine how this affects the motions.

Ort, förlag, år, upplaga, sidor
Federal Institute for Occupational Safety and Health , 2017. s. 64-71
Nyckelord [en]
Optimal control, discrete mechanics, human motion planning
Nationell ämneskategori
Annan teknik
Forskningsämne
Användarcentrerad produktdesign; INF202 Virtual Ergonomics
Identifikatorer
URN: urn:nbn:se:his:diva-14054OAI: oai:DiVA.org:his-14054DiVA, id: diva2:1137056
Konferens
5th International Digital Human Modeling Symposium, Bonn Germany, June 26-28, 2017
Projekt
CROMM
Forskningsfinansiär
VINNOVA, 2012-04584Tillgänglig från: 2017-08-30 Skapad: 2017-08-30 Senast uppdaterad: 2019-02-14Bibliografiskt granskad

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