Human Long Jump — A Deductive Approach

[摘要] This paper presents a useful application of a generalized approach to the modelling of human and humanoid motion using the deductive approach. It starts with formulating a completely general problem and deriving different real situations as special cases. The concept and the software realization are verified by comparing the results with the ones obtained using “classical” software for one well-known particular problem – biped walking. New applicability and potentials of the proposed method are demonstrated by simulation of a selected example – the long jump. The simulated motion included jumping and landing on the feet (after a jump). Additional analysis is done in the paper regarding the joint torque and joint angle during the jumping. Separate stages of the simulation are defined and explained.

[学科分类] 自动化工程

[关键词] Humanoid;dynamics;contact task;impact;human motion;Zero-Moment Point (ZMP)