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Human lift-up motion generation based on identification of time-variant performance index

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4 Author(s)
Miyata, N. ; Digital Human Lab., Nat. Inst. of Adv. Ind. Sci. & Technol., Tokyo, Japan ; Oguri, K. ; Ota, J. ; Arai, T.

This paper deals with the method to generate human whole body motion by identifying performance index to be optimized. Most of the human motion in daily life, including a "lift-up an object" motion, is complex and the performance index are regarded to vary during the motion. Lift-up an object motion is generated by solving inverse kinematics. The experimentally measured trajectory of the hand is given and the rest of the degree of freedom is determined by optimizing a performance index that blends several sub-functions. The coefficients for each sub-function are identified through the motion generation simulation.

Published in:

Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on  (Volume:3 )

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