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.
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Vukobratovic, M., Potkonjak, V. & Tzafestas, S. Human and Humanoid Dynamics. Journal of Intelligent and Robotic Systems 41, 65–84 (2004). https://doi.org/10.1023/B:JINT.0000049169.28413.df
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DOI: https://doi.org/10.1023/B:JINT.0000049169.28413.df