Human-and-humanoid postures under external disturbances: Modeling, simulation, and robustness. Part 1: Modeling

Potkonjak, V; Tzafestas, S; Vukobratovic, M; Milojevic, M; Jovanovic, M

dc.contributor.author	Potkonjak, V	en
dc.contributor.author	Tzafestas, S	en
dc.contributor.author	Vukobratovic, M	en
dc.contributor.author	Milojevic, M	en
dc.contributor.author	Jovanovic, M	en
dc.date.accessioned	2014-03-01T01:35:49Z
dc.date.available	2014-03-01T01:35:49Z
dc.date.issued	2011	en
dc.identifier.issn	0921-0296	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/21205
dc.subject	Disturbance	en
dc.subject	Dynamic model	en
dc.subject	Posture	en
dc.subject	Robustness	en
dc.subject	Simulation	en
dc.subject.classification	Computer Science, Artificial Intelligence	en
dc.subject.classification	Robotics	en
dc.subject.other	Biologically inspired	en
dc.subject.other	Contact forces	en
dc.subject.other	Control strategies	en
dc.subject.other	Disturbance	en
dc.subject.other	Dynamic model and simulation	en
dc.subject.other	Dynamic problem	en
dc.subject.other	External disturbances	en
dc.subject.other	External force	en
dc.subject.other	Ground reactions	en
dc.subject.other	Human motions	en
dc.subject.other	Humanoid robot	en
dc.subject.other	Impact theory	en
dc.subject.other	Mathematical modeling	en
dc.subject.other	Posture	en
dc.subject.other	Posture stabilization	en
dc.subject.other	Power requirement	en
dc.subject.other	Simulation	en
dc.subject.other	Simulation systems	en
dc.subject.other	Technical problem	en
dc.subject.other	Technical science	en
dc.subject.other	Algorithms	en
dc.subject.other	Anthropomorphic robots	en
dc.subject.other	Dynamic models	en
dc.subject.other	Energy utilization	en
dc.subject.other	Problem solving	en
dc.subject.other	Sports medicine	en
dc.subject.other	Computer simulation	en
dc.title	Human-and-humanoid postures under external disturbances: Modeling, simulation, and robustness. Part 1: Modeling	en
heal.type	journalArticle	en
heal.identifier.primary	10.1007/s10846-010-9517-5	en
heal.identifier.secondary	http://dx.doi.org/10.1007/s10846-010-9517-5	en
heal.language	English	en
heal.publicationDate	2011	en
heal.abstract	It is a well-known fact that the growth of technology has radically changed our approach to biosciences and medicine. What is interesting is that in the last decade we have witnessed a reverse influence-a trend towards ""biologically inspired"" solutions to technical problems. This leads to a true symbiosis between bio and technical sciences. A good example is the intersection and overlapping of three distinct fields: sports, medicine, and robotics. This paper intends to apply sophisticated methods developed for mathematical modeling of humanoid robots in real human motions, particularly in posture stabilization and selection of appropriate postures for different situation in sports and every day life. A general simulation system is realized: following a deductive principle, the algorithm considers particular human/humanoid motions (like those occurring in different sports) as being just special cases of a general motion and impact theory. Simulation includes the interaction with the environment. Simulating a human/humanoid dynamics in a given task, all relevant characteristics could be found: trajectories, velocities and accelerations, loads of joints, power requirements, energy consumption, contact forces including ground reactions, impact effects, etc. Simulation is used in solving a problem that is important for both humans and humanoid robots, namely, the behavior of a posture (keeping stability or collapsing) when subject to different disturbances. Although ""posture"" is mainly a static term, maintaining its balance in the presence of disturbances is a truly dynamic problem. Typical postures from every day life and sports are considered, such as: upright standing, squat (and partial squat), and three karate postures. Two sorts of disturbances are applied to eventually, compromise the posture: external impulse and permanent external force. This paper does not aim to suggest some new control strategy but to develop the dynamic model and simulation algorithm, and apply them to compare the robustness of different postures to external disturbances. © 2011 Springer Science+Business Media B.V.	en
heal.publisher	SPRINGER	en
heal.journalName	Journal of Intelligent and Robotic Systems: Theory and Applications	en
dc.identifier.doi	10.1007/s10846-010-9517-5	en
dc.identifier.isi	ISI:000292832000004	en
dc.identifier.volume	63	en
dc.identifier.issue	2	en
dc.identifier.spage	191	en
dc.identifier.epage	210	en