Synthesis of Lower-Body Human Walking using Trigonometric Spline Method
Peer reviewed, Journal article
Accepted version
Åpne
Permanent lenke
https://hdl.handle.net/11250/3067656Utgivelsesdato
2022Metadata
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Originalversjon
Zhakatayev, A., Rogovchenko, Y. & Pätzold, M. U. (2022). Synthesis of Lower-Body Human Walking using Trigonometric Spline Method. IEEE-RAS International Conference on Humanoid Robots, 2022, 358-363 10.1109/Humanoids53995.2022.10000253Sammendrag
In this work, preliminary results of human motion synthesis are presented. Specifically, a single stride motion (consisting of two steps) of a human lower-body model is obtained. The optimal control problem was reformulated as a nonlinear programming problem using the differential inclusion method. The main goal of this study is to compare the performance of trigonometric and polynomial (B-spline) discretization methods. The obtained results indicate that the trigonometric spline method performs similarly to the B-spline method and results in a smooth motion.
Beskrivelse
Author's accepted manuscript