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, In: Proceedings in Applied Mathematics and Mechanics, 12 (Issue 1), pp. 85-86. 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 ; Wojtusch, Janis ; 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: | Proceedings in Applied Mathematics and Mechanics |
| Volume of the journal: | 12 |
| Issue 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 |
| PPN: | |
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