Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Landing Motion Analysis of Human-Body Model Considering Impact and ZMP Condition

충격과 ZMP 조건을 고려한 인체 모델의 착지 동작 해석

  • 소병록 (한양대학교 전자컴퓨터공학부) ;
  • 김희국 (고려대학교 제어계측공학과) ;
  • 이병주 (한양대학교 전자컴퓨터공학부)
  • Published : 2005.06.01
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Abstract

This paper deals with modeling and analysis fer the landing motion of a human-body model. First, the dynamic model of a floating human body is derived. The external impulse exerted on the ground as well as the internal impulse experienced at the joints of the human body model is analyzed. Second, a motion planning algorithm exploiting the kinematic redundancy is suggested to ensure stability in terms of ZMP stability condition during a series of landing phases. Four phases of landing motion are investigated. In simulation, the external and internal impulses experienced at the human joints and the ZMP history resulting from the motion planning are analyzed for two different configurations. h desired landing posture is suggested by comparison of the simulation results.

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References

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