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Authors: Parvin Abedi 1 and Ali Leylavi Shoushtari 2

Affiliations: 1 Shoushtar Branch and Islamic Azad University, Iran, Islamic Republic of ; 2 Shoushtar Branch, Islamic Azad University, South Tehran Branch and Islamic Azad University, Iran, Islamic Republic of

Keyword(s): Human Body Dynamics, Humanoid Robots, Optimization-based Simulation.

Related Ontology Subjects/Areas/Topics: Humanoid Robots ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mechatronics Systems ; Modeling, Simulation and Architectures ; Optimization Algorithms ; Robotics and Automation

Abstract: The humanoid robots are bio-inspired models of human body. The mechanical structure of humanoid robots consists of several joints and segments. Numerous degrees of freedom are caused the redundancy problem. There is an unanswered question concerning with strategies which central nervous system implements to predict the human posture and gesture during different movements. A 7 degree of freedom model is used for modelling humanoid robot and an optimization-based method is planned to simulation of human motion. The joints angles and torques are subjected as optimization variables. The joints range of motion and limits of actuator torques are used as optimization constraints. The weight lifting is the motion which is subjected to simulation. Finally the results presented for two velocity lifting. The result shows the body posture varies naturally and the weight maintain at the end position at final time correctly.

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Paper citation in several formats:
Abedi, P. and Leylavi Shoushtari, A. (2012). Modelling and Simulation of Human-like Movements for Humanoid Robots. In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-8565-21-1; ISSN 2184-2809, SciTePress, pages 342-346. DOI: 10.5220/0004094903420346

@conference{icinco12,
author={Parvin Abedi. and Ali {Leylavi Shoushtari}.},
title={Modelling and Simulation of Human-like Movements for Humanoid Robots},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2012},
pages={342-346},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004094903420346},
isbn={978-989-8565-21-1},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Modelling and Simulation of Human-like Movements for Humanoid Robots
SN - 978-989-8565-21-1
IS - 2184-2809
AU - Abedi, P.
AU - Leylavi Shoushtari, A.
PY - 2012
SP - 342
EP - 346
DO - 10.5220/0004094903420346
PB - SciTePress

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