Human-Like Motion Based On a Geometrical Inverse Kinematics and Energetic Optimization
ABSTRACT For humanoid robotics the cooperation with human beings makes human like behavior indispensable. The robots of our days have to feature human like form and structure. But, more importantly its ways of motion and reactions should be like that expected with human. In this paper, we propose an algorithm for solving the human arm inverse kinematics problem (position and orientation). The proposed method eliminates the singular configurations faced in the classical inverse kinematics methods. Our algorithm is based on the choice of a special reference frames in the workspace of the different parts of human arm. The geometrical projection in local frames gives the aimed results. The proposed redundancy resolution criterion for 7ddl human like arm is obtained through an energetic optimization. The proposed algorithm could be used for humanoid robots arm, in upper limb prosthesis application, as well as in computer animations. It gives the solution for the inverse kinematics of the arm. Simulation results within ADAMS software are presented. Our study takes the result of a detailed grasping research which gives an associated object reference frame indicating the way to grasp the object.
Conference Paper: A new criterion for redundancy resolution of human arm in reaching tasks[Show abstract] [Hide abstract]
ABSTRACT: This paper proposes a new criterion for redundancy resolution of human arm in reaching tasks. First, an assumption of minimum Total Potential Energy (TPE) principle is proposed to explain how human exploit the kinematic redundancy of their arms to choose the natural arm postures in reaching tasks. This is the basis as well as the physical meaning of the new criterion. The TPE of human arm includes Gravitational Potential Energy (GPE) and Elastic Potential Energy (EPE) stored in the muscles. Then, a creative simple equivalent model, a virtual torsion spring model with variable stiffness, is proposed to represent the EPE. The stiffness of the torsion spring is related to the target point. Last, to obtain the stiffness of the torsion spring in different target points, many experiments are performed, and multiple linear regression analysis is introduced to determine the relation between the stiffness and target point.Advanced Intelligent Mechatronics (AIM), 2013 IEEE/ASME International Conference on; 01/2013
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ABSTRACT: In this paper, the generation of trajectories of both end-effector and joints for human-like reaching and grasping motions is studied. In reaching movement, the human-like end-effector trajectory is obtained based on the minimum jerk model. A total potential energy criterion is constructed to resolve the kinematic redundancy of human arm in the target position. Gradient Projection Method (GPM) is adopted to trace the human-like end-effector trajectory while minimizing the total potential energy to generate the human-like joint trajectory. In grasping movement, the total potential energy and wrist discomfort are synthesized to resolve the kinematic redundancy of human arm in the target position and orientation. A new planner, Gradient Projection Method based Rapidly-exploring Random Tree (GPM-RRT) algorithm, is proposed to generate the human-like end-effector trajectory by goal biasing and the human-like joint trajectory by minimizing the synthesis of the total potential energy and wrist discomfort. The criteria and algorithm are verified by simulations and experiments.Mechanism and Machine Theory 11/2014; 81:107–128. DOI:10.1016/j.mechmachtheory.2014.06.015 · 1.31 Impact Factor
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ABSTRACT: This paper presents the closed-form solutions of IKMs (Inverse Kinematic Models) of the anthropomorphic biped robot HYDRO¨ıD which has 8 active DOFs (Degrees Of Freedom) per leg. From a general point of view, six IKMs are developed in this article. Moreover, a new approach to resolve the redundancy and the particular DOF distribution of the robot is suggested. This approach is validated, and prove e_ciency according to di_erent aspects. Firstly, the increase of the workspace and the flexibility o_ered during walking motion is discussed. Furthermore, the coordination between the two internal/external DOFs of the leg allows the reduction of the joint motion range, and energy consumption. The last point is presented through various simulations of walking motion in the non-redundant and redundant cases. To do that, an existing control strategy, developed at the Laboratoire d'Ing´enierie des Syst`emes de Versailles (LISV), is adapted, improved and used to perform walking motion. It uses homogeneous transformation matrices for the high level control, takes into account gait planning, the robot's structural parameters and the robot's sensor measurements.Mechanism and Machine Theory 04/2011; 556114140(117). DOI:10.1016/j.mechmachtheory.2011.10.014 · 1.31 Impact Factor