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A modular and efficient approach to computational modeling and sensitivity analysis of robot and human motion dynamics

Friedmann, Martin and Wojtusch, Janis and 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, pp. 85-86, 12, (Issue 1), DOI: 10.1002/pamm.201210034, [Article]

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.

Item Type: Article
Erschienen: 2012
Creators: Friedmann, Martin and Wojtusch, Janis and Stryk, Oskar von
Title: A modular and efficient approach to computational modeling and sensitivity analysis of robot and human motion dynamics
Language: English
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.

Journal or Publication Title: Proceedings in Applied Mathematics and Mechanics
Series Name: Proceedings in Applied Mathematics and Mechanics
Volume: 12
Number: Issue 1
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Interdisziplinäre Forschungsprojekte
Exzellenzinitiative
Exzellenzinitiative > Graduate Schools
Exzellenzinitiative > Graduate Schools > Graduate School of Computational Engineering (CE)
Interdisziplinäre Forschungsprojekte > Forschungsprojekte Prothetik
Event Title: 83rd Annual Meeting of the International Association of Applied Mathematics and Mechanics
Event Location: Darmstadt
Date Deposited: 20 Jun 2016 23:26
DOI: 10.1002/pamm.201210034
Additional Information:

Special Issue: 83rd Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM), Darmstadt 2012;

Identification Number: 2012:GAMM
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