Human Motion Modeling With a Robotics Method: Analysis of a Person Riding a Bus

2008 ◽  
Author(s):  
Ashish D. Deshpande ◽  
Jonathan E. Luntz
Keyword(s):  
Equations Of Motion ◽  
Human Motion ◽  
Contact Forces ◽  
Body Motion ◽  
Control Analysis ◽  
Motion Modeling ◽  
Open Chain ◽  
Motion Models ◽  
Performance Requirements ◽  
And Control

Deriving models of human body motion is important for prosthetics, rehabilitation and development of humanoids. We present a method that simplifies the derivation of equations of motion of human movements. We illustrate our approach by deriving motion models of a person riding in a moving bus. Our approach simplifies the derivation of dynamics as only open chain dynamics are to be derived. The kinematic constraints are then introduced to represent a complete system model in which the contact forces appear explicitly. We then constrain the contact forces based on the performance requirements to determine the feasibility of motions, which is difficult to determine with the traditional methods. Our model allows for the design and control analysis, specifically, the derivation of the relationship between the change in rider’s posture and the feasibility of motions.

Modelling the flight dynamics of the hang glider

2005 ◽  
Vol 109 (1102) ◽  
pp. I-XX ◽  
Author(s):  
M. V. Cook ◽  
M. Spottiswoode
Keyword(s):  
Complex Geometry ◽  
Equations Of Motion ◽  
Linear Equations ◽  
Flight Dynamics ◽  
Control Analysis ◽  
Stability Margins ◽  
Stability And Control ◽  
Centre Of Gravity ◽  
Weight Shift ◽  
And Control

AbstractThe development of the non-linear equations of motion for the hang glider from first principles is described, including the complex geometry of control by pilot ‘weight shift’. By making appropriate assumptions the linearised small perturbation equations are derived for the purposes of stability and control analysis. The mathematical development shows that control is effected not by pilot weight shift, but by centre of gravity shift and that lateral-directional control by this means is weak, and is accompanied by significant instantaneous adverse response.The development of a comprehensive semi-empirical mathematical model of the flexible wing aerodynamics is described. In particular, the modelling attempts to quantify camber and twist dependencies. The performance of the model is shown to compare satisfactorily with measured hang glider wing data obtained in earlier full scale experiments. The mathematical aerodynamic model is then used to estimate the hang glider stability and control derivatives over the speed envelope for substitution into the linearised equations of motion.Solution of the equations of motion is illustrated and the flight dynamics of the typical hang glider are described. In particular, the dynamic stability properties are very similar to those of a conventional aeroplane, but the predicted lateral directional stability margins are significantly larger. The depth of mathematical modelling employed enables the differences to be explained satisfactorily. The unique control properties of the hang glider are described in some detail. Pitch and roll control of the hang glider is an aerodynamic phenomenon and results from the pilot adjusting his position relative to the wing in order to generate out of trim aerodynamic control moments about the centre of gravity. Maximum control moments are limited by hang glider geometry which is dependent on the length of the pilot‘s arm. The pilot does not generate control moments directly by shifting his weight relative to the wing. The modelling thus described would seem to give a plausible description of the flight dynamics of the hang glider.

Computational Reference Dynamical Model of a Multibody System With First Order Constraints

2017 ◽  
Author(s):  
Elżbieta Jarzębowska ◽  
Krzysztof Augustynek ◽  
Andrzej Urbaś
Keyword(s):  
Equations Of Motion ◽  
Computational Procedure ◽  
Dynamical Models ◽  
Constrained System ◽  
First Order ◽  
Performance Requirements ◽  
Control Goal ◽  
Order Constraints ◽  
Reaction Forces ◽  
And Control

The paper presents a development of a computational based procedure for generation of constrained system dynamical models. The constraints may be both holonomic and first order nonholonomic, either material or nonmaterial. The latter ones are referred to as programmed and they are imposed by a designer, a control engineer as a control goal, or may come from controlled system performance requirements. The procedure for generation of constrained dynamics provides then reference dynamical models, i.e. models whose solutions satisfy all the constraints put upon them. These models may serve as motion planners for control. The distinctions between the presented approach and the ones reported in the literature are that the constraints may be material or nonmaterial and the final equations of motion are derived in the reduced state form, i.e. constraint reaction forces are eliminated at the equations derivation level but not afterwards as in the case of the Lagrange approach. This is the essential advantage of our approach and this one computational procedure may serve both reference and control oriented dynamical models derivation. The procedure is applied to a manipulator model whose end effector is subjected to a programmed constrained.

Dynamics, Contact Motion and Control of Dual Arm Object Manipulation With Soft Rolling Fingertips

2002 ◽  
Author(s):  
Zoe Doulgeri ◽  
John Fasoulas
Keyword(s):  
Horizontal Plane ◽  
Contact Forces ◽  
Kinematics And Dynamics ◽  
Object Surface ◽  
Contact Mode ◽  
Motion Models ◽  
And Control ◽  
Detailed Derivation ◽  
Simple Feedback ◽  
Dual Arm

In this paper a detailed derivation is made of the kinematics and dynamics of a pair of robotic fingers manipulating a rectangular object with soft fingertips that are allowed to roll along the object surface. The whole system is confined to the horizontal plane. Two contact motion models for the soft area contact are considered and it is shown that they significantly affect contact mode and type of finger rolling constraints. A discussion on contact forces and a grasp analysis at object’s equilibrium is made. Last, simple feedback control solutions that have been proposed for stabilizing the grasping and regulating the object’s posture are presented.

Dynamic Modeling and Control of an Electromechanical Control Actuation System

2017 ◽  
Author(s):  
Ümit Yerlikaya ◽  
R. Tuna Balkan
Keyword(s):  
Nonlinear Model ◽  
Equations Of Motion ◽  
Ball Screw ◽  
Loop Control ◽  
Modeling And Control ◽  
Performance Requirements ◽  
Actuation System ◽  
Lever Mechanism ◽  
Actuation Systems ◽  
And Control

Electromechanical actuators are widely used in miscellaneous applications in engineering such as aircrafts, missiles, etc. due to their momentary overdrive capability, long-term storability, and low quiescent power/low maintenance characteristics. This work focuses on electromechanical control actuation systems (CAS) that are composed of a brushless direct current motor, ball screw, and lever mechanism. In this type of CAS, nonlinearity and asymmetry occur due to the lever mechanism itself, saturation limits, Coulomb friction, backlash, and initial mounting position of lever mechanism. In this study, both nonlinear and linear mathematical models are obtained using governing equations of motion. By using the linear model, it is shown that employing a PI-controller for position and a P-controller for velocity will be sufficient to satisfy performance requirements in the inner-loop control of an electromechanical CAS. The unknown controller parameters and anti-windup coefficient are obtained by the Optimization Tools of MATLAB using nonlinear model. Results obtained from the nonlinear model and real-time unloaded and loaded tests on a prototype developed are compared to verify the nonlinear model.

A Recursive Dynamic Formulation for Flexible Mechanisms

1990 ◽  
Author(s):  
Byung Yil Souh ◽  
S. S. Kim
Keyword(s):  
Equations Of Motion ◽  
Mode Selection ◽  
Nonlinear Effects ◽  
Body Motion ◽  
Flexible Link ◽  
Open Chain ◽  
Closed Loop Systems ◽  
Dynamic Formulation ◽  
Nodal Coordinates ◽  
Assumed Mode

Abstract This paper presents a recursive dynamic formulation for modeling and simulation of spatial mechanisms with elastic beams. In order to circumvent some difficulties in the convential assumed mode approach, each flexible link is modeled with finite elements. The motion of the flexible link comprises the rigid body motion and elastic deformation. The elastic deformations are represented by nodal coordinates relative to the moving coordinate system fixed to the link. Recursive kinematic relationships are derived between finite beam elements. Using variational equations of motion for the one beam element and recursive relationships, the equations of motion for the open-chain flexible bodies are derived in terms of relative joint and nodal coordinates. For closed-loop systems, Lagrange multipliers are used to generate the equations of motion with kinematic constraints. The proposed method models geometric nonlinear effects and axial tensioning effects automatically. Also, the difficulties of the mode selection in the assumed mode approach is avoided. Numerical examples illustrate the effectiveness of this approach.

scholarly journals Dynamical Modelling and Control of Snake-Like Motion in Vertical Plane for Locomotion in Unstructured Environments

2019 ◽  
Author(s):  
Mohammadali Javaheri Koopaee ◽  
Christopher Pretty ◽  
Koen Classens ◽  
XiaoQi Chen
Keyword(s):  
Wave Motion ◽  
Force Feedback ◽  
Equations Of Motion ◽  
Vertical Plane ◽  
Adaptive Controller ◽  
Contact Forces ◽  
Lagrange Method ◽  
Uneven Terrain ◽  
And Control ◽  
Snake Robots

Abstract This paper introduces the equations of motion of modular 2D snake robots in the vertical plane. In particular, the kinematics of pedal wave motion (undulation in vertical plane) of modular snake robots is presented and using the Euler-Lagrange method, the equations of motion of the robot are obtained. Moreover, using the well-known Spring-Damper contact model, external contact forces are taken into account and pedal wave locomotion on uneven terrain is modelled and simulated. Enabled by the dynamical model of the robot, an adaptive controller based on external force feedback in gait parameter space is proposed and implemented, resulting in the robot to successfully climbing over a stair-type obstacle without any prior knowledge about the environment.

Modelling the flight dynamics of the hang glider

2006 ◽  
Vol 110 (1103) ◽  
pp. 1-20 ◽  
Author(s):  
M. V. Cook ◽  
M. Spottiswoode
Keyword(s):  
Complex Geometry ◽  
Equations Of Motion ◽  
Linear Equations ◽  
Control Analysis ◽  
Stability And Control ◽  
Aerodynamic Model ◽  
Directional Control ◽  
Weight Shift ◽  
Control Derivatives ◽  
And Control

AbstractThe development of the non-linear equations of motion for the hang glider from first principles is described, including the complex geometry of control by pilot ‘weight shift’. By making appropriate assumptions the linearised small perturbation equations are derived for the purposes of stability and control analysis. The mathematical development shows that control is effected not by pilot weight shift, but by centre of gravity shift and that lateral-directional control by this means is weak, and is accompanied by significant instantaneous adverse response.The development of a comprehensive semi-empirical mathematical model of the flexible wing aerodynamics is described. In particular, the modelling attempts to quantify camber and twist dependencies. The performance of the model is shown to compare satisfactorily with measured hang glider wing data obtained in earlier full scale experiments. The mathematical aerodynamic model is then used to estimate the hang glider stability and control derivatives over the speed envelope for substitution into the linearised equations of motion.

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