期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2012
卷号：9
期号：4
页码：108
DOI：10.5772/51036
语种：English
出版社：SAGE Publications
摘要：This paper presents a useful application of a generalized approach to the modelling of human and humanoid motion using the deductive approach. It starts with formulating a completely general problem and deriving different real situations as special cases. The concept and the software realization are verified by comparing the results with the ones obtained using “classical” software for one well-known particular problem – biped walking. New applicability and potentials of the proposed method are demonstrated by simulation of a selected example – the long jump. The simulated motion included jumping and landing on the feet (after a jump). Additional analysis is done in the paper regarding the joint torque and joint angle during the jumping. Separate stages of the simulation are defined and explained.
关键词：Humanoid; dynamics; contact task; impact; human motion; Zero-Moment Point (ZMP)
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