NDLI: Kinematic analysis of human lifting movement for biped robot control

Content Provider	IEEE Xplore Digital Library
Author	Matsunaga, N. Okimura, Y. Kawaji, S.
Copyright Year	2004
Description	Author affiliation: Dept. of Comput. Sci., Kumamoto Univ., Japan (Matsunaga, N.)
Abstract	An increasing biped robot development may be viewed in terms of realization of autonomous works in real world, where robot motion with lifting and/or carrying of heavy objects must be designed. Such motion control of biped robot working by himself is an important issues, in which many configurations and motions appear depending on position of robot and object. Isaka et al. analyzed the lifting motion of skilled lifter and mentioned that the configuration of lifting is important to realize the efficient lifting with small burden to the lower back. In their analysis the motion was limited for weight lift, and the object's position was fixed. So, it is required to analyze various human lifting motions in many situations for new biped robot control. Our study aims at realization of biped robot that can walk and lifting heavy objects. In this paper, dynamic characteristics of human lifting movement are analyzed through lifting of barbell in various situations. Furthermore, based on the lifting analysis, the comparison of motion control between lifting and jumping is discussed.
Sponsorship	IEEE Industrial Electron. Soc. Inst. of Haptics Eng. Soc. Keio Univ
Starting Page	421
Ending Page	426
File Size	358874
Page Count	6
File Format	PDF
ISBN	0780383001
DOI	10.1109/AMC.2004.1297906
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-03-28
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kinematics Humans Robot control Motion analysis Motion control Humanoid robots Design engineering Legged locomotion Leg Muscles
Content Type	Text
Resource Type	Article

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