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A Bio-Inspired Approach to the Realization of Sustained Humanoid Motion : Un approccio bio-inspirato per la realizzazione del movimento umanoide sostenuto | Ein biologisch inspirierter Ansatz zur Realisierung einer anhaltenden humanoiden Bewegung, in: International Journal of Advanced Robotic Systems |
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| Author |
Vukobratovich, Miomir; Borovac, Branislav; Rodić, Aleksandar; Katić, Duško; Potkonjak, Veljko |
| Published |
InTech Open Access Publisher, 2012
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| Abstract |
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). |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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