loading
Papers

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Parvin Abedi 1 and Ali Leylavi Shoushtari 2

Affiliations: 1 Shoushtar Branch and Islamic Azad University, Iran, Islamic Republic of ; 2 Shoushtar Branch, Islamic Azad University, South Tehran Branch and Islamic Azad University, Iran, Islamic Republic of

ISBN: 978-989-8565-21-1

Keyword(s): Human Body Dynamics, Humanoid Robots, Optimization-based Simulation.

Related Ontology Subjects/Areas/Topics: Humanoid Robots ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mechatronics Systems ; Modeling, Simulation and Architectures ; Optimization Algorithms ; Robotics and Automation

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.

PDF ImageFull Text

Download
CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 3.231.228.109

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
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

@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},
}

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

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.