Motion optimization of human body for impulse-based applications

Abstract

This paper presents the optimal motion generation of the kinematic redundant human body model for impulse-based applications. Inspired by effective and safe motion generation of the human body, we propose a motion generation algorithm considering the external and internal impulses. Firstly, the cost function is defined using the closed form model of external and internal impulses. Then, the self-motion is exploited by using the gradient projection method to generate the optimal motions. Furthermore, the proposed methodology is verified through simulations considering a 4-DOF planar human body model for landing on ground and ball kicking applications and a 3-DOF human arm model for sawing task. It is found that, considering the internal and external impulses for optimization, the optimized posture's results are well identical to the human body behavior in daily impulse-based motions.