Optimal control of a biomechanical multibody model for the dynamic simulation of working tasks
Roller M, Björkenstam S, Linn J, Leyendecker S (2017)
Publication Language: English
Publication Type: Conference contribution, Conference Contribution
Publication year: 2017
Conference Proceedings Title: Proceedings of the ECCOMAS Thematic Conference on Mutlibody Dynamics
Event location: Prague
Abstract
In this contribution a framework for digital human modelling using optimal control of a biomechanical multibody model is presented. The skeleton of the human body is represented as a multibody system, actuated by simplified Hill muscles. Motions of the digital human model are generated by optimal control with different objective functions. The optimal control problem is discretized by the DMOCC approach, using a variational integrator for the constrained equations of motion. With this approach, the task of "lifting of a box from a lower to a higher position" is simulated as a test example. Both arms are modeled with seven degrees of freedom each, actuated by 29 muscles. In the optimal control problem an arbitrary grasp position is included, as well as frictional contact between the box and the hand.
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Involved external institutions
Fraunhofer-Institut für Techno- und Wirtschaftsmathematik (ITWM) / Fraunhofer Institute for Industrial Mathematics
Germany (DE)
Fraunhofer-Chalmers Centre
Sweden (SE)
Germany (DE)
Fraunhofer-Chalmers Centre
Sweden (SE)
How to cite
APA:
Roller, M., Björkenstam, S., Linn, J., & Leyendecker, S. (2017). Optimal control of a biomechanical multibody model for the dynamic simulation of working tasks. In Proceedings of the ECCOMAS Thematic Conference on Mutlibody Dynamics. Prague, CZ.
MLA:
Roller, Michael, et al. "Optimal control of a biomechanical multibody model for the dynamic simulation of working tasks." Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics, Prague 2017.
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