Mathematical modelling and inverse dynamic analysis of human motion

Toygar E. M., Çakmakçı M.

in: Mobile Robotics. Solutions and Challenges, Mohammad Osman Tokhi,O Tosun,Gurvinder S Virk,H L Akin, Editor, World Scientific Publishing , New York, pp.853-860, 2009

  • Publication Type: Book Chapter / Chapter Research Book
  • Publication Date: 2009
  • Publisher: World Scientific Publishing
  • City: New York
  • Page Numbers: pp.853-860
  • Editors: Mohammad Osman Tokhi,O Tosun,Gurvinder S Virk,H L Akin, Editor
  • Dokuz Eylül University Affiliated: Yes


Abstract: A five link biped human model is considered for understanding
the system which underlies the bipedal walking. These five links consist
of torso, femurs and thighs. The phases which generate the bipedal walking
are described. Next, the kinematic and dynamic equations which compose the
motions of the phases are explained in detail. Finally, the corresponding
desired trajectories the model joints are discussed and the system
describing the model's behavior in the single support phase (SSP) is
constructed by using the equations which are mentioned before. However, an
accurate model of biped model is not achieved, due to the existence of
uncertainties of various kinds such as unmodeled dynamics and parameters.
With this study, bipedal human motion is described fundemantally in
mathematical shape and the inverse dynamic analysis of motion is