Optimization Based Trajectory Planning of Human Upper Body
IOWA STATE UNIV IOWA CITY
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Many tasks require the arm to move from its initial position to a specified target position without any constraints or via a point for a curved path in case of obstacle avoidance. In this paper we presented a formulation to plan the trajectory of human upper body. Having obtained the desired path in Cartesian space using the minimum jerk theory and represented each joint motion by a B-spline curve with unknown parameters i.e., control points, an optimization approach instead of inverse kinematics is used to predict control points of each joints profile a spline curve. It forms an optimization problem and the cost function includes four parts 1 The discomfort function that evaluates displacement of each joint away from its neutral position 2 The consistency function, which is the joint rate change first derivative and predicted overall trend from the initial point to the end point 3 The non smoothness function of the trajectory, which is the second derivative of the joint trajectory and 4 The non continuity function, which is the amplitudes of joint angle rates at the start and end points In order to emphasize smooth starting and ending conditions. This paper presents a high redundancy the upper body modeling with 15 degrees of freedom and optimization approach to predict the trajectory of human upper body. It can be expandable to apply the formulation to other parts of the human body. Illustrative examples were presented and an interface was set up to visualize the results.
- Anatomy and Physiology