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A Computer Simulation Study of a Single Rigid Body Dynamic Model for Biped Postural Control
NAVAL POSTGRADUATE SCHOOL MONTEREY CA
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Existing kinematics models for humans cannot simulate movement beyond geometric constraints. On the other hand, complex dynamics models are computationally expensive for real time computer graphics applications in Virtual EnvironmentsVE. To be able to create a more realistic, real time, and computationally efficient human model, a simple dynamic model needs to be developed. The approach taken in this thesis was to develop a single rigid body dynamic human model with massless legs. Instead of a Lagrangian model, which complicates the calculations exponentially as the complexity of the system increases, the Newton-Euler method was chosen to derive system differential equations. Linear state feedback was used for postural control. As part of this research, a previous realistic looking human model is further developed. The major conclusion of this thesis is that a single rigid body dynamic model can be used for simulation of postural control. The simulation results contained in this thesis show that such a modeling technique could be used to cause a detailed kinematic representation of a human figure to move in a smooth and realistic way without resorting to complexity of a multi-link dynamic model.
APPROVED FOR PUBLIC RELEASE