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Motion optimization of human body for impulse-based applications

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This paper presents the optimal motion generation of the kinematic redundant human body model for impulse-based applications. Inspired by effective and safe motion generation of the human body, we propose a motion generation algorithm considering the external and internal impulses. Firstly, the cost function is defined using the closed form model of external and internal impulses. Then, the self-motion is exploited by using the gradient projection method to generate the optimal motions. Furthermore, the proposed methodology is verified through simulations considering a 4-DOF planar human body model for landing on ground and ball kicking applications and a 3-DOF human arm model for sawing task. It is found that, considering the internal and external impulses for optimization, the optimized posture’s results are well identical to the human body behavior in daily impulse-based motions.

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This work was supported by the Technology Innovation Program (or Industrial Strategic Technology Development Program) (20001856, Development of robotic work control technology capable of grasping and manipulating various objects in everyday life environment based on multimodal recognition and using tools) funded By the Ministry of Trade, Industry & Energy(MOTIE, Korea), and the Technology Innovation Program (or Industrial Strategic Technology Development Program- Artificial intelligence bio-robot medical convergence project) (20001257, Artificial intelligence algorithm based vascular intervention robot system for reducing radiation exposure and achieving 0.5 mm accuracy) funded By the Ministry of Trade, Industry & Energy(MOTIE, Korea), the Ministry of Health & Welfare(MOHW), Ministry of Science and ICT(MSIT), Korea Evaluation Institute of Industrial Technology(KEIT), and the Technology Innovation Program(10052980, Development of micro robotic system for surgical treatment of chronic total occlusion) funded By the Ministry of Trade, Industry & Energy(MI, Korea), and performed by ICT based Medical Robotic Systems Team of Hanyang University, Department of Electronic Systems Engineering was supported by the BK21 Plus Program funded by National Research Foundation of Korea(NRF), and supported by WC300 R&D Program(S2482672) funded by the Small and Medium Business Administration(SMBA, KOREA).

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Correspondence to Byung-Ju Yi.

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Imran, A., Yi, BJ. Motion optimization of human body for impulse-based applications. Intel Serv Robotics 11, 323–333 (2018).

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