Modelling and Simulation of Human-like Movements for Humanoid Robots

Parvin Abedi, Ali Leylavi Shoushtari

Abstract

The humanoid robots are bio-inspired models of human body. The mechanical structure of humanoid robots consists of several joints and segments. Numerous degrees of freedom are caused the redundancy problem. There is an unanswered question concerning with strategies which central nervous system implements to predict the human posture and gesture during different movements. A 7 degree of freedom model is used for modelling humanoid robot and an optimization-based method is planned to simulation of human motion. The joints angles and torques are subjected as optimization variables. The joints range of motion and limits of actuator torques are used as optimization constraints. The weight lifting is the motion which is subjected to simulation. Finally the results presented for two velocity lifting. The result shows the body posture varies naturally and the weight maintain at the end position at final time correctly.

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Paper Citation


in Harvard Style

Abedi P. and Leylavi Shoushtari A. (2012). Modelling and Simulation of Human-like Movements for Humanoid Robots . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-21-1, pages 342-346. DOI: 10.5220/0004094903420346


in Bibtex Style

@conference{icinco12,
author={Parvin Abedi and Ali Leylavi Shoushtari},
title={Modelling and Simulation of Human-like Movements for Humanoid Robots},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2012},
pages={342-346},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004094903420346},
isbn={978-989-8565-21-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Modelling and Simulation of Human-like Movements for Humanoid Robots
SN - 978-989-8565-21-1
AU - Abedi P.
AU - Leylavi Shoushtari A.
PY - 2012
SP - 342
EP - 346
DO - 10.5220/0004094903420346