Friedmann, Martin ; Wojtusch, Janis ; Stryk, Oskar von (2012)
A modular and efficient approach to computational modeling and sensitivity analysis of robot and human motion dynamics.
In: Proceedings in Applied Mathematics and Mechanics, 12 (Issue 1)
doi: 10.1002/pamm.201210034
Artikel, Bibliographie
Kurzbeschreibung (Abstract)
In this paper a new class library for the computation of the forward multi-body-system (MBS) dynamics of robots and biomechanical models of human motion is presented. By the developed modular modeling approach the library can be flexibly extended by specific modeling elements like joints with specific geometry or different muscle models and thus can be applied efficiently for a number of dynamic simulation and optimization problems. The library not only provides several methods for solving the forward dynamics problem (like articulated body or composite rigid body algorithms) which can transparently be exchanged. Moreover, the numerical solution of optimal control problems, like in the forward dynamics optimization of human motion, is significantly facilitated by the computation of the sensitivity matrix with respect to the control variables. Examples are given to demonstrate the efficiency of the approach.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 2012 |
| Autor(en): | Friedmann, Martin ; Wojtusch, Janis ; Stryk, Oskar von |
| Art des Eintrags: | Bibliographie |
| Titel: | A modular and efficient approach to computational modeling and sensitivity analysis of robot and human motion dynamics |
| Sprache: | Englisch |
| Publikationsjahr: | Dezember 2012 |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | Proceedings in Applied Mathematics and Mechanics |
| Jahrgang/Volume einer Zeitschrift: | 12 |
| (Heft-)Nummer: | Issue 1 |
| Reihe: | Proceedings in Applied Mathematics and Mechanics |
| Veranstaltungstitel: | 83rd Annual Meeting of the International Association of Applied Mathematics and Mechanics |
| Veranstaltungsort: | Darmstadt |
| DOI: | 10.1002/pamm.201210034 |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | In this paper a new class library for the computation of the forward multi-body-system (MBS) dynamics of robots and biomechanical models of human motion is presented. By the developed modular modeling approach the library can be flexibly extended by specific modeling elements like joints with specific geometry or different muscle models and thus can be applied efficiently for a number of dynamic simulation and optimization problems. The library not only provides several methods for solving the forward dynamics problem (like articulated body or composite rigid body algorithms) which can transparently be exchanged. Moreover, the numerical solution of optimal control problems, like in the forward dynamics optimization of human motion, is significantly facilitated by the computation of the sensitivity matrix with respect to the control variables. Examples are given to demonstrate the efficiency of the approach. |
| Zusätzliche Informationen: | Special Issue: 83rd Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM), Darmstadt 2012; |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik Interdisziplinäre Forschungsprojekte Exzellenzinitiative Exzellenzinitiative > Graduiertenschulen Exzellenzinitiative > Graduiertenschulen > Graduate School of Computational Engineering (CE) Interdisziplinäre Forschungsprojekte > Forschungsprojekte Prothetik |
| Hinterlegungsdatum: | 20 Jun 2016 23:26 |
| Letzte Änderung: | 08 Mai 2019 10:13 |
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