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Robot Kinematics and Dynamics for Modeling the Human Body

  • Conference paper
Robotics Research

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 66))

Summary

A body of effort has been devoted to developing efficient algorithms for kinematics and dynamics computation of robotic mechanisms, and has been successfully applied to control and simulation of complex mechanisms including industrial manipulators and humanoid robots. Thanks to such effort, as well as the recent progress in the computation power, it is becoming more realistic to apply these algorithms to human body dynamics modeling and simulation. On the other hand, the human body has a number of different properties from robotic systems in its complexity, actuators, and controllers. This paper describes our attempt towards building a precise human body dynamics model for its motion analysis and simulation. In particular, we present how the algorithms developed in robotics are combined with physiological models and data to address the difficulties of handling real human body.

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Author information

Authors and Affiliations

  1. Department of Mechano-Informatics, University of Tokyo, Japan

    Katsu Yamane & Yoshihiko Nakamura

Authors
  1. Katsu Yamane
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  2. Yoshihiko Nakamura
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Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, Osaka University, 2-1 Yamadaoka, 565-0871, Suita, Osaka, Japan

    Makoto Kaneko

  2. Department of Mechano-Informatics, Faculty of Engineering, Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, 113-8656, Bunkyo-ku, Tokyo, Japan

    Yoshihiko Nakamura

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Yamane, K., Nakamura, Y. (2010). Robot Kinematics and Dynamics for Modeling the Human Body. In: Kaneko, M., Nakamura, Y. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 66. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14743-2_5

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  • DOI: https://doi.org/10.1007/978-3-642-14743-2_5

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-14742-5

  • Online ISBN: 978-3-642-14743-2

  • eBook Packages: EngineeringEngineering (R0)

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