A GENERALIZED APPROACH TO MODELING DYNAMICS OF HUMAN AND HUMANOID MOTION

Abstract

This paper suggests a generalized approach to the modeling of human and humanoid motion. Instead of the usual inductive approach that starts from the analysis of different situations of real motion (like bipedal gait and running; playing tennis, soccer, or volleyball; gymnastics on the floor or by using some gymnastic apparatus; etc.) and tries to make a generalization, we suggest a deductive approach: one starts by considering a completely general problem. Once the general model is formulated, one may derive different real situations as being special cases. Such an approach require a serious effort in formulating the general model. This paper is an attempt in this direction. The general methodology is explained and the feasibility is supported by applying the general model to two illustrative examples: first, a well-known situation — the single-support phase of a biped motion — and second, a completely different problem — gymnastic exercise on a horizontal bar.