Simulation und optimale Steuerung der Dynamik von Mehrkörpersystemen in der Biomechanik und Robotik

生物力学和机器人领域多体系统动力学的仿真和优化控制

• 批准号: 83985804
• 负责人: Professorin Dr.-Ing. Sigrid Leyendecker
• 金额: --
• 依托单位: Lehrstuhl für Technische Dynamik
• 依托单位国家: 德国
• 项目类别: Independent Junior Research Groups
• 财政年份: 2009
• 资助国家: 德国
• 起止时间: 2008-12-31 至 2016-12-31
• 项目状态: 已结题
• 来源: https://gepris.dfg.de/gepris/projekt/83985804?language=en
• 关键词: Simulation; und; optimale; Steuerung; der

Simulation is of great importance when studying the motion of humans in a normal state of health and with disorders e.g. in order to optimise movements in athletics as well as to design and improve orthotic and prosthetic devices. On the other hand, the planning of manoeuvres of robots requires the knowledge of the actuating forces that optimally guide the system. The fidelity of approximate solutions relies on the capability of the numerical solution method to represent the systems characteristic properties correctly. If the energy required to perform a motion is a criterion of interest, it is crucial to use an energy consistent method. While the benefits of mechanical integrators are widely accepted in purely forward dynamical simulations, they remain mostly unattended in motion planning and optimal control problems. The aim of this project is on the one hand to develop and investigate new efficient and robust methods for the dynamic optimisation of movements that guarantee the inheritance of the real solutions relevant properties by the approximate solution. On the other hand, these rather flexible methods should be applied to a interdisciplinary field ranging from robotics over everyday human motion to athletics high performance motions.

当研究人类在正常健康状态和疾病状态下的运动时，仿真非常重要，例如为了优化体育运动以及设计和改进矫形和假肢设备。另一方面，机器人的机动规划需要最佳地引导系统的致动力的知识。近似解的保真度依赖于数值解方法正确表示系统特征性质的能力。如果执行运动所需的能量是一个感兴趣的标准，则使用能量一致的方法至关重要。虽然机械积分器的好处被广泛接受在纯粹的前向动力学模拟，他们仍然在运动规划和最优控制问题的大部分无人值守。该项目的目的是一方面开发和研究新的有效和强大的方法，保证继承的真实的解决方案的近似解的相关属性的动态优化的运动。另一方面，这些相当灵活的方法应适用于一个跨学科的领域，从机器人在日常人类运动到田径高性能运动。

项目成果

Structure Preserving Optimal Control of Three-Dimensional Compass Gait

三维罗盘步态保结构优化控制

• DOI: 10.1007/978-3-642-36368-9_8
• 发表时间: 2013
• 作者: S. Leyendecker;D. Pekarek;J. Marsden
• 通讯作者: J. Marsden

On the time transformation of mixed integer optimal control problems using a consistent fixed integer control function

基于一致固定整数控制函数的混合整数最优控制问题的时间变换

• DOI: 10.1007/s10107-016-1023-5
• 发表时间: 2016
• 期刊: Mathematical Programming
• 影响因子: 2.7
• 作者: M. Ringkamp;S. Ober-Blöbaum;S. Leyendecker
• 通讯作者: S. Leyendecker

Discrete Mechanics and Optimal Control of Walking Gaits

步行步态的离散力学和优化控制

• DOI: 10.1115/1.4035213
• 发表时间: 2016
• 期刊: Journal of Computational and Nonlinear Dynamics
• 影响因子: 2
• 作者: M. Koch;M. Ringkamp;S. Leyendecker
• 通讯作者: S. Leyendecker

Discrete mechanics and optimal control for constrained systems

• DOI: 10.1002/oca.912
• 发表时间: 2010-11
• 期刊: Optimal Control Applications and Methods
• 影响因子: 1.8
• 作者: S. Leyendecker;S. Ober-Blöbaum;J. Marsden;Magdalena Ortiz

Discontinuous variational time integrators for complex multibody collisions

用于复杂多体碰撞的不连续变分时间积分器

• DOI: 10.1002/nme.4764
• 发表时间: 2014
• 期刊: International Journal for Numerical Methods in Engineering
• 影响因子: 2.9
• 作者: G. Johnson;S. Leyendecker;M. Ortiz
• 通讯作者: M. Ortiz