A framework for motion planning of digital humans using discrete mechanics and optimal control

Conference contribution
(Conference Contribution)


Publication Details

Author(s): Björkenstam S, Nyström J, Carlson JS, Roller M, Linn J, Hanson L, Högberg D, Leyendecker S
Publication year: 2017
Conference Proceedings Title: Proceedings of the 5th International Digital Human Modeling Symposium
Pages range: 64-71
Language: English


Abstract


In this paper we present a framework for digital human modelling using discrete mechanics and optimal control. Discrete mechanics is particularly well suited for modelling the dynamics of constrained mechanical systems, which is almost always the case when considering complex human models interacting with the environment. We demonstrate that, by using recently developed recursive dynamics algorithms, we are able to efficiently use discrete mechanics in direct optimal control methods to plan for complex motions. Besides a proper mechanical model, an appropriate objective function is paramount to achieve realistic motions as a solution to an optimal control problem. Hence, several different objective functions, such as for example minimum time or minimum applied torque over the joints, are compared, and the resulting motions are analyzed and evaluated. To further improve the model, we include basic muscular models for the muscles of the shoulder, arm and wrist, and examine how this affects the motions.


FAU Authors / FAU Editors

Leyendecker, Sigrid Prof. Dr.-Ing.
Chair of Applied Dynamics


External institutions with authors

Fraunhofer-Chalmers Centre
Fraunhofer-Institut für Techno- und Wirtschaftsmathematik (ITWM) / Fraunhofer Institute for Industrial Mathematics
Scania AB
University of Skövde / Högskolan i Skövde (HIS)


Research Fields

biomechanics
Chair of Applied Dynamics
multibody dynamics and robotics
Chair of Applied Dynamics
Modellierung/Simulation/Optimierung
Research focus area of a faculty: Technische Fakultät


How to cite

APA:
Björkenstam, S., Nyström, J., Carlson, J.S., Roller, M., Linn, J., Hanson, L.,... Leyendecker, S. (2017). A framework for motion planning of digital humans using discrete mechanics and optimal control. In Proceedings of the 5th International Digital Human Modeling Symposium (pp. 64-71). Bonn, DE.

MLA:
Björkenstam, Staffan, et al. "A framework for motion planning of digital humans using discrete mechanics and optimal control." Proceedings of the Proceedings of the 5th International Digital Human Modeling Symposium, Bonn 2017. 64-71.

BibTeX: 

Last updated on 2019-05-08 at 09:39