Abstract
This paper presents a useful application of a generalized approach to the modelling of human and humanoid motion using the deductive approach. It starts with formulating a completely general problem and deriving different real situations as special cases. The concept and the software realization are verified by comparing the results with the ones obtained using “classical” software for one well-known particular problem – biped walking. New applicability and potentials of the proposed method are demonstrated by simulation of a selected example – the long jump. The simulated motion included jumping and landing on the feet (after a jump). Additional analysis is done in the paper regarding the joint torque and joint angle during the jumping. Separate stages of the simulation are defined and explained.
Highlights
Using a general model of human motion, this paper presents a human long jump simulation
This paper proves a general approach to humanoid‐robot motion, applicable to any motion task
That is why we started from an approximation – a complex body of a humanoid robot
Summary
Using a general model of human motion, this paper presents a human long jump simulation. According to [1], the general approach is based on an articulated system (e.g., a human body, a humanoid, or even an animal) thatflieswithout constraints (meaning that it is not connected to the ground or to any object in its environment – see Fig. 1). For this the term flier was suggested. Miloš Jovanović:InHtuJmAadnv LRoonbgoJtuicmSpy,-2A01D2e,dVuoclt.iv9e, A10p8p:r2o0a1ch is present in running, jumping, trampoline exercises, etc.), but it is less common than the motion where the system is in contact with the ground or some other supporting object in its environment (e.g., single‐ and double‐support phases of walking, gymnastics on some apparatuses, etc.). The local PD regulator is implemented as a control strategy:
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