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Realistic Dynamic Posture Prediction of Humanoid Robot: Manual Lifting Task Simulation

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Intelligent Robotics and Applications (ICIRA 2012)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 7506))

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Abstract

A well known question mooted in biomechanics is how the central nerves system manages the body posture during various tasks. A 5DOF biomechatronical model of human body subjected to simulate the manual lifting task of humanoid robot. Simulation process is based on optimization approach named predictive dynamics using inverse dynamics. An objective function in term of ankle torques during lifting time, subjected to be minimized. It assumed that CNS considered this function to perform lifting motion balanced. In the other optimization-based simulations, balancing motion was guaranteed by a nonlinear inequality constraint which restricts the total moment arm of the links to an upper and lower boundary. In this method there is no need to use this constraint. Result shows that the motion is performed balanced. According to the comparison the results with the experimental data, the body posture of humanoid robots, predicted as similar as actual human posture.

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Author information

Authors and Affiliations

  1. Department of Mechatronics, South Tehran Branch, Islamic Azad University, Tehran, Iran

    Ali Leylavi Shoushtari

  2. Department of Computer Engineering, Shoushtar Branch, Islamic Azad University, Shoushtar, Iran

    Ali Leylavi Shoushtari & Parvin Abedi

Authors
  1. Ali Leylavi Shoushtari
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  2. Parvin Abedi
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Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, Concordia University, H3G 1M8, Montreal, Canada

    Chun-Yi Su

  2. Mechanical and Industrial Engineering, Concordia University, 1515 St. Catherine St. West, Montreal, Quebec, Canada

    Subhash Rakheja

  3. School of Creative Technologies, The University of Portsmouth, PO1 2DJ, Portsmouth, UK

    Honghai Liu

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© 2012 Springer-Verlag Berlin Heidelberg

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Shoushtari, A.L., Abedi, P. (2012). Realistic Dynamic Posture Prediction of Humanoid Robot: Manual Lifting Task Simulation. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7506. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33509-9_57

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  • DOI: https://doi.org/10.1007/978-3-642-33509-9_57

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-33508-2

  • Online ISBN: 978-3-642-33509-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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