TY - JOUR

T1 - A dynamic human motion: coordination analysis

AU - Pchelkin, S.

AU - Shiriaev, A.S.

AU - Freidovich, L.B.

AU - Mettin, U.

AU - Gusev, S.V.

AU - Kwon, W.

AU - Paramonov, L.

PY - 2015

Y1 - 2015

N2 - This article is concerned with the generic structure of the motion coordination system resulting from the application of the method of virtual holonomic constraints (VHCs) to the problem of the generation and robust execution of a dynamic humanlike motion by a humanoid robot. The motion coordination developed using VHCs is based on a motion generator equation, which is a scalar nonlinear differential equation of second order. It can be considered equivalent in function to a central pattern generator in living organisms. The relative time evolution of the degrees of freedom of a humanoid robot during a typical motion are specified by a set of coordination functions that uniquely define the overall pattern of the motion. This is comparable to a hypothesis on the existence of motion patterns in biomechanics. A robust control is derived based on a transverse linearization along the configuration manifold defined by the coordination functions. It is shown that the derived coordination and control architecture poss

AB - This article is concerned with the generic structure of the motion coordination system resulting from the application of the method of virtual holonomic constraints (VHCs) to the problem of the generation and robust execution of a dynamic humanlike motion by a humanoid robot. The motion coordination developed using VHCs is based on a motion generator equation, which is a scalar nonlinear differential equation of second order. It can be considered equivalent in function to a central pattern generator in living organisms. The relative time evolution of the degrees of freedom of a humanoid robot during a typical motion are specified by a set of coordination functions that uniquely define the overall pattern of the motion. This is comparable to a hypothesis on the existence of motion patterns in biomechanics. A robust control is derived based on a transverse linearization along the configuration manifold defined by the coordination functions. It is shown that the derived coordination and control architecture poss

U2 - 10.1007/s00422-014-0624-4

DO - 10.1007/s00422-014-0624-4

M3 - Article

VL - 109

SP - 47

EP - 62

JO - Biological Cybernetics

JF - Biological Cybernetics

SN - 0340-1200

IS - 1

ER -