Human-and-Humanoid Postures Under External Disturbances: Modeling,Simulation, and Robustness. Part 2: Simulation and Robustness |
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Authors: | Miomir Vukobratovic Milena Milojevic Spyros Tzafestas Milos Jovanovic Veljko Potkonjak |
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Affiliation: | 1.Institute “Mihajlo Pupin”,Belgrade,Serbia;2.Nacional Technical University of Athens,Athens,Greece;3.Faculty of Electrical Engineering,University of Belgrade,Belgrade,Serbia |
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Abstract: | The sophisticated method for mathematical modeling of humanoid robots formulated in Part 1 of this paper is applied here to
the dynamic task of keeping a posture under disturbance, which is equally important to humans and humanoid robots. The idea
of this work is to develop and realize a simulator tool for dynamic analysis of human-or-humanoid behavior under disturbances.
To show the potentials and verify this tool, we comparatively analyze the robustness of some postures to external disturbance.
At this stage of research we do not conduct real experiments with humans/humanoids but try to verify our simulation tool by
relying on available experience. Therefore, the postures for comparison are taken from everyday life and from sports: upright
standing, squat posture, and three karate postures. As the external disturbance we choose an impulse and a permanent force,
both with variable direction and magnitude. |
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