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

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
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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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