Human Motion Control Using Dynamic Model

동력학 모델을 이용한 인체 동작 제어

  • 김창회 (한국원자력연구소 양자광학기술개발팀) ;
  • 오병주 (한남대학교 전자공학과) ;
  • 김승호 (한국원자력연구소 양자광학기술개발팀)
  • Published : 1999.12.01

Abstract

In this paper, We performed the human body dynamic modelling for the realistic animation based on the dynamical behavior of human body, and designed controller for the effective control of complicate human dynamic model. The human body was simplified as a rigid body which consists of 18 actuated degrees of freedom for the real time computation. Complex human kinematic mechanism was regarded as a composition of 6 serial kinematic chains : left arm, right arm, support leg, free leg, body, and head. Based on the this kinematic analysis, dynamic model of human body was determined using Newton-Euler formulation recursively. The balance controller was designed in order to control the nonlinear dynamics model of human body. The effectiveness of designed controller was examined by the graphical simulation of human walking motion. The simulation results were compared with the model base control results. And it was demonstrated that, the balance controller showed better performance in mimicking the dynamic motion of human walking.

Acknowledgement

Supported by : 정보통신부