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	2014-03-01T01:54:26Z
dc.date.available	2014-03-01T01:54:26Z
dc.date.issued	2005	en
dc.identifier.issn	09210296	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/27385
dc.subject	Active exoskeleton	en
dc.subject	Balanced motion	en
dc.subject	Dynamic control	en
dc.subject	Humanoid dynamics	en
dc.subject	Humanoid robot	en
dc.subject	Zero moment point	en
dc.subject.other	Computer simulation	en
dc.subject.other	Mathematical models	en
dc.subject.other	Motion estimation	en
dc.subject.other	Random processes	en
dc.subject.other	Robotics	en
dc.subject.other	Systems analysis	en
dc.subject.other	Active exoskeleton	en
dc.subject.other	Balanced motion	en
dc.subject.other	Dynamic control	en
dc.subject.other	Humanoid dynamics	en
dc.subject.other	Humanoid robot	en
dc.subject.other	Zero moment point	en
dc.subject.other	Human engineering	en
dc.title	Human and humanoid dynamics: From the past to the future	en
heal.type	journalArticle	en
heal.identifier.primary	10.1023/B:JINT.0000049169.28413.df	en
heal.identifier.secondary	http://dx.doi.org/10.1023/B:JINT.0000049169.28413.df	en
heal.publicationDate	2005	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. © 2004 Kluwer Academic Publishers.	en
heal.journalName	Journal of Intelligent and Robotic Systems: Theory and Applications	en
dc.identifier.doi	10.1023/B:JINT.0000049169.28413.df	en
dc.identifier.volume	41	en
dc.identifier.issue	1	en
dc.identifier.spage	65	en
dc.identifier.epage	84	en