This paper deals with dynamic optimization of biped locomotion. The main focus of this research is motion optimization of double support phase. The optimization problem is dealt by using Pontryagins Maximum Principal. For motion optimization of double support phase, the closed kinematic chain has been considered to be opened at appropriate joint and the components of ground reaction forces has ...

A Genetic Algorithm (GA) gait synthesis method for walking biped robots is considered in this paper. The walking occupy most of the time during the task performance, therefore its gait is analyzed based on the minimum consumed energy (CE) and minimum torque change (TC). The biped robot optimal gait is considered starting from static standing state and continuing with normal walking. The propose...

New methods for fast, adaptive motion prediction of a virtual human are proposed and tested. An optimal locomotion for gait-driven motions like pushing, climbing and pick-up/delivery are sought through gradient-based optimization and inverse-dynamics. Such gait-driven motion can be produced by adapting the normal gait motion to the case when a characteristic force is applied, which is called an...

This chapter deals with fundamental methods as well as current research on physics-based human gait analysis. We present valuable concepts that allow efficient modeling of the kinematics and the dynamics of the human body. The resulting physical model can be included in an optimization-based framework. In this context, we show how forward dynamics optimization can be used to determine the produ...

Abstract Strolling is a complex activity that requires the synchronization of brain, anxiety, and muscles, as well rhythmic movement lower limbs. Gait may be abnormal if coordination disrupted. As result, exoskeletons should used to treat it effectively. The connection other systems contained in could mimic behavior human leg. These mechanisms are created utilizing traditional methods. This stu...

Achieving a stable, human-like gait for humanoid robots is a challenging task. While a variety of techniques exist to generate stable walking patterns, only little attention has been paid to the resemblance to the human gait. Popular gaits, for example, apply the strategy to bend the knees and to swing the torso in the lateral direction in order to ensure stability by shifting the center of mas...

Recently, interest in analysis and generation of human and human-like motion has increased in various areas. In robotics, in order to operate a humanoid robot, it is necessary to generate motions that have strictly dynamic consistency. Furthermore, human-like motion for robots will bring advantages such as energy optimization. This paper presents a mechanism to generate two human-like motions, ...

The current state of computer animation shows that the automatic synthesis of physically realistic motion is an extremely difficult problem. Despite several diverse approaches to this problem, such as inverse dynamics and forward simulation, character animation is still almost always created by hand or, less commonly, through motion capture. Within the last decade, spacetime optimization has ar...

This paper describes a method of clothing-invariant gait recognition by modifying intensity response function of a silhouettebased gait feature. While a silhouette-based representation such as gait energy image (GEI) has been popular in gait recognition community due to its simple yet effective property, it is also well known that such a representation is susceptible to clothes variations since...