Two-dimensional team lifting prediction with floating-base box dynamics and grasping force coupling
Two-dimensional team lifting prediction with floating-base box dynamics and grasping force coupling
复制标题
浮基箱动力学和抓取力耦合的二维团队提升预测
DOI：
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发表时间：
2020
影响因子：
3.4
通讯作者：
Asif Arefeen
中科院分区：
文献类型：
--
作者：
Y. Xiang;Asif Arefeen
提出了一种基于优化的多体动力学建模方法，用于二维团队举升预测。盒子本身被建模为Denavit-Hartenberg表示中的浮基刚体。人与盒子之间的相互作用被建模为一组抓力，其被视为优化配方中的未知数（设计变量）。一个基于逆动力学的优化是用来模拟团队升降运动的两个人的动态努力最小化受到物理和基于任务的约束。设计变量是两个人和盒子的关节角轮廓的三次B样条的控制点，以及人和盒子之间的抓握力。所有的约束条件和目标函数，包括不同的未知抓地力的分析灵敏度。成功地模拟了两个数值例子：一个是提升一个10 kg的箱子，其质心在中间，另一个是提升一个相同重量的箱子，其质心偏离中心。人类的关节角度，扭矩，地面反作用力，抓力的档案。合理的团队升降运动，运动学和动力学预测使用建议的多体动力学建模方法和优化配方。
An optimization-based multibody dynamics modeling method is proposed for two-dimensional (2D) team lifting prediction. The box itself is modeled as a floating-base rigid body in Denavit–Hartenberg representation. The interactions between humans and box are modeled as a set of grasping forces which are treated as unknowns (design variables) in the optimization formulation. An inverse-dynamics-based optimization is used to simulate the team lifting motion where the dynamic effort of two humans is minimized subjected to physical and task-based constraints. The design variables are control points of cubic B-splines of joint angle profiles of two humans and the box, and the grasping forces between humans and the box. Analytical sensitivities are derived for all constraints and objective functions including the varying unknown grasping forces. Two numerical examples are successfully simulated: one is to lift a 10 kg box with the center of mass (COM) in the middle, and the other is the same weight box with the COM off the center. The humans’ joint angle, torque, ground reaction force, and grasping force profiles are reported. Reasonable team lifting motion, kinematics, and kinetics are predicted using the proposed multibody dynamic modeling approach and optimization formulation.
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影响因子：
1.8
作者：
S. Leyendecker;S. Ober-Blöbaum;J. Marsden;Magdalena Ortiz
通讯作者：
S. Leyendecker;S. Ober-Blöbaum;J. Marsden;Magdalena Ortiz
影响因子：
2.4
作者：
Thelen, DG;Anderson, FC
通讯作者：
Anderson, FC
考虑动态关节强度的二维对称提升的特定主题强度百分位确定
影响因子：
3.4
作者：
Xiang, Yujiang;Zaman, Rahid;Rakshit, Ritwik;Yang, James
通讯作者：
Yang, James
影响因子：
2.4
作者：
Ackermann, Marko;van den Bogert, Antonie J.
通讯作者：
van den Bogert, Antonie J.