Temat: ZMP - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Biomechanical criterion of dynamic stability based on ZMP formula and Flash-Hogan principle of minimum jerk
Autorzy:: Ilewicz, Grzegorz
Mrozowski, Jerzy
Awrejcewicz, Jan
Zagrodny, Bartłomiej
Ludwicki, Michał
Powiązania:: https://bibliotekanauki.pl/articles/2200881.pdf
Data publikacji:: 2023
Wydawca:: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:: biomechanical stability
jerk
Flash-Hogan principle
ZMP
Optitrack
Opis:: The main aim of the article is to define a criterion of dynamic stability based on the Flash- Hogan principle and the ZMP method. The gait researches were focused on analysis and observation of the human biomechanism with the optical system Optitrack. The smooth reference trajectory is defined forming a stability pattern. The optimal, due to the minimum jerk criterion, ZMP trajectory is illustrated in the results Section in order to demonstrate the dynamic stability pattern for the needs of rehabilitation in cases of neuromuscular damage or injuries affecting gait stability.
Źródło:: Journal of Theoretical and Applied Mechanics; 2023, 61, 1; 3--9
1429-2955
Pojawia się w:: Journal of Theoretical and Applied Mechanics
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Stable gait synthesis and analysis of a 12 - degree of freedom eiped robot in sagittal and frontal planes
Autorzy:: Sudheer, A. P.
Vijayakumar, R.
Mohandas, K. P.
Powiązania:: https://bibliotekanauki.pl/articles/384563.pdf
Data publikacji:: 2012
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: Denavit-Hartenberg parameters
sagittal and frontal plane
zero moment point (ZMP)
Levenberg-Marquardt algorithm
Cycloidal gait trajectory
Opis:: Legged machines have not been offered biologically realistic movement patterns and behaviours due to the limitations in kinematic, dynamics and control technique. When the degrees of freedom (DOF) increases, the robot becomes complex and it affects the postural stability. A loss of postural stability of biped may have potentially serious consequences and this demands thorough analysis for the better prediction and elimination of the possibility of fall. This work presents the modelling and simulation of twelve degrees of freedom (DOF) biped robot, walking along a pre-defined trajectory after considering the stability in sagittal and frontal planes based upon zero moment point (ZMP) criterion. Kinematic modelling and dynamic modelling of the robot are done using Denavit-Hartenberg (DH) parameters and Newton-Euler algorithm respectively. This paper also proposes Levenberg- Marquardt method for finding inverse kinematic solutions and determines the size of the foot based on ZMP for the stable motion of biped. Biped robot locomotion is simulated, kinematic and dynamic parameters are plotted using MATLAB. Cycloidal gait trajectory is experimentally validated for a particular step length of the biped.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2012, 6, 4; 36-44
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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