A Bio-Inspired Approach to the Realization of Sustained Humanoid Motion

This paper overviews some author's biomechanical inspiration for the development of an approach which enables the realization of bipedal artificial motion. First, we introduce the notion of dynamic balance, which is a basic prerequisite for the realization of any task by humanoids. Then, as gro...

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Bibliographic Details
Published in:International journal of advanced robotic systems 2012-11, Vol.9 (5)
Main Authors: Vukobratović, Miomir, Borovac, Branislav, Rodić, Aleksandar, Katić, Duško, Potkonjak, Veljko
Format: Article
Language:English
Subjects:
Biomechanics
Design
Dynamic characteristics
Human motion
Humanoid
Mechanical systems
Perturbation
Posture
Robots
Walking
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Summary:This paper overviews some author's biomechanical inspiration for the development of an approach which enables the realization of bipedal artificial motion. First, we introduce the notion of dynamic balance, which is a basic prerequisite for the realization of any task by humanoids. Then, as ground reference points, important indicators of a humanoid's state were introduced and discussed. Particular attention was paid to ZMP, which is the most important indicator of robot dynamic balance. Issues of modelling of the complex mechanical systems (humanoids belonging to this class) were also discussed. Such software should allow humanoid modelling, either without any contact with the environment (such as flying freely in space, for example, during jumping) or having contact with ground or any other supporting object. It also should be enough general to cover different humanoids' structures, postures, and allow the calculation of all relevant dynamic characteristics. Some examples are presented in this paper (e.g., the modelling of a goalkeeper catching a ball, the replication of human motion trying to re-establish posture and dynamic balance where jeopardized by perturbation).
ISSN:1729-8806
1729-8814
DOI:10.5772/52419