A fast and robust whole-body control algorithm for running. (1st January 2011)

• Record Type: Journal Article
• Authors: Zhou, Xianlian; Przekwas, Andrzej
• Is Part Of: International journal of human factors modelling and simulation. Volume 2:Number 1/2(2011)
• Page Start: 127
• Page End: 148
• Publication Date: 2011-01-01
• Subjects: whole-body model -- running -- real-time -- control -- motion synthesis -- load carriage; Human-computer interaction -- Periodicals; Human-machine systems -- Periodicals; 004.019
• Languages: English
• ISSNs: 1742-5549

Abstract

Dynamic simulation of human motion in real-time is a challenging problem due to the high mobility of human body and the redundancy of body control. This paper presents a robust whole-body control algorithm for simulating human running in real-time. The control algorithm tracks a reference motion through a proportional derivative (PD) feedback control rule for computing desired joint accelerations and an efficient and novel procedure for predicting ground reaction force (GRF) and joint actuation torques, which are subsequently applied to a forward dynamics simulation. The proposed control algorithm is firstly demonstrated to track a measured running motion and the predicted GRF is shown in good agreement with the experimental data. Further, the capability to handle extra loads is demonstrated with load carriage studies. In summary, the present approach offers a fast and robust way to synthesise physically valid dynamic motions from captured motion samples without the need of measured GRF.