Human and humanoid dynamics - From the past to the future

Vukobratovic, M; Potkonjak, V; Tzafestas, S

dc.contributor.author	Vukobratovic, M	en
dc.contributor.author	Potkonjak, V	en
dc.contributor.author	Tzafestas, S	en
dc.date.accessioned	2014-03-01T01:53:58Z
dc.date.available	2014-03-01T01:53:58Z
dc.date.issued	2004	en
dc.identifier.issn	0921-0296	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/27155
dc.subject	humanoid dynamics	en
dc.subject	humanoid robot	en
dc.subject	dynamic control	en
dc.subject	active exoskeleton	en
dc.subject	zero moment point	en
dc.subject	balanced motion	en
dc.subject.classification	Computer Science, Artificial Intelligence	en
dc.subject.classification	Robotics	en
dc.subject.other	CONSTRAINED GRIPPER MOTION	en
dc.subject.other	ROBOTIC MANIPULATORS	en
dc.title	Human and humanoid dynamics - From the past to the future	en
heal.type	journalArticle	en
heal.language	English	en
heal.publicationDate	2004	en
heal.abstract	The questions when and why one needs to use mathematical models, and especially the models of dynamics, represent a still unresolved issue. A general answer would be that dynamic modeling is needed as a tool when designing structure of the system and its control unit. In this case we talk about simulation. The other application is in on-line control of the system - the so-called dynamic control. While for simulation one should generally use the best available model, the control can be based on a reduced dynamics, depending on a particular task. This article considers humans and humanoid robots and addresses a rather important question: what are dynamic effects that one should take care of when modeling and simulating a human or a humanoid? The article suggests the key topics for work and tries to justify them. As a final result a General Human/Humanoid-Dynamics Simulator is seen.	en
heal.publisher	KLUWER ACADEMIC PUBL	en
heal.journalName	JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS	en
dc.identifier.isi	ISI:000225299500004	en
dc.identifier.volume	41	en
dc.identifier.issue	1	en
dc.identifier.spage	65	en
dc.identifier.epage	84	en