dc.contributor.author | Zhakatayev, Altay | |
dc.contributor.author | Rogovchenko, Yuriy | |
dc.contributor.author | Pätzold, Matthias Uwe | |
dc.date.accessioned | 2023-05-11T11:10:21Z | |
dc.date.available | 2023-05-11T11:10:21Z | |
dc.date.created | 2023-01-11T16:48:43Z | |
dc.date.issued | 2022 | |
dc.identifier.citation | 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 | en_US |
dc.identifier.issn | 2164-0580 | |
dc.identifier.uri | https://hdl.handle.net/11250/3067656 | |
dc.description | Author's accepted manuscript | en_US |
dc.description.abstract | 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. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | IEEE | en_US |
dc.relation.ispartof | 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids) | |
dc.title | Synthesis of Lower-Body Human Walking using Trigonometric Spline Method | en_US |
dc.type | Peer reviewed | en_US |
dc.type | Journal article | en_US |
dc.description.version | acceptedVersion | en_US |
dc.rights.holder | © 2022 IEEE | en_US |
dc.subject.nsi | VDP::Teknologi: 500 | en_US |
dc.source.pagenumber | 358-363 | en_US |
dc.source.volume | 2022 | en_US |
dc.source.journal | IEEE-RAS International Conference on Humanoid Robots | en_US |
dc.identifier.doi | 10.1109/Humanoids53995.2022.10000253 | |
dc.identifier.cristin | 2105261 | |
dc.relation.project | Norges forskningsråd: 300638 | en_US |
cristin.qualitycode | 1 | |