TY - GEN
T1 - Synthesis of Lower-Body Human Walking using Trigonometric Spline Method
AU - Zhakatayev, Altay
AU - Rogovchenko, Yuriy
AU - Patzold, Matthias
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - In this work, preliminary results of human motion synthesis are presented. Specifically, a single stride motion (consisting of two steps) of a human lower-body model is obtained. The optimal control problem was reformulated as a nonlinear programming problem using the differential inclusion method. The main goal of this study is to compare the performance of trigonometric and polynomial (B-spline) discretization methods. The obtained results indicate that the trigonometric spline method performs similarly to the B-spline method and results in a smooth motion.
AB - In this work, preliminary results of human motion synthesis are presented. Specifically, a single stride motion (consisting of two steps) of a human lower-body model is obtained. The optimal control problem was reformulated as a nonlinear programming problem using the differential inclusion method. The main goal of this study is to compare the performance of trigonometric and polynomial (B-spline) discretization methods. The obtained results indicate that the trigonometric spline method performs similarly to the B-spline method and results in a smooth motion.
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U2 - 10.1109/Humanoids53995.2022.10000253
DO - 10.1109/Humanoids53995.2022.10000253
M3 - Conference contribution
AN - SCOPUS:85146309982
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 358
EP - 363
BT - 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022
PB - IEEE Computer Society
T2 - 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022
Y2 - 28 November 2022 through 30 November 2022
ER -