Human and Humanoid Dynamics

The questions when and why one needs to use mathematical models, and especially the models of dynamics, represent a still unresolved issue. A general answer would be that dynamic modeling is needed as a tool when designing structure of the system and its control unit. In this case we talk about simu...

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Bibliographic Details
Published inJournal of intelligent & robotic systems Vol. 41; no. 1; pp. 65 - 84
Main Authors Vukobratovic, M, Potkonjak, V, Tzafestas, S
Format Journal Article
LanguageEnglish
Published Dordrecht Springer Nature B.V 01.09.2004
Subjects
Computer simulation
Dynamical systems
Dynamics
Human
Humanoid
Mathematical models
On-line systems
Robots
Studies
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Summary:The questions when and why one needs to use mathematical models, and especially the models of dynamics, represent a still unresolved issue. A general answer would be that dynamic modeling is needed as a tool when designing structure of the system and its control unit. In this case we talk about simulation. The other application is in on-line control of the system - the so-called dynamic control. While for simulation one should generally use the best available model, the control can be based on a reduced dynamics, depending on a particular task. This article considers humans and humanoid robots and addresses a rather important question: what are dynamic effects that one should take care of when modeling and simulating a human or a humanoid? The article suggests the key topics for work and tries to justify them. As a final result a General Human/Humanoid-Dynamics Simulator is seen.[PUBLICATION ABSTRACT]
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ISSN:0921-0296
1573-0409
DOI:10.1023/B:JINT.0000049169.28413.df