University of Illinois Urbana-Champaign

Body modeling and inverse dynamics: A modeling toolkit

Awni, Hani

This item is only available for download by members of the University of Illinois community. Students, faculty, and staff at the U of I may log in with your NetID and password to view the item. If you are trying to access an Illinois-restricted dissertation or thesis, you can request a copy through your library's Inter-Library Loan office or purchase a copy directly from ProQuest.

Permalink

https://hdl.handle.net/2142/99543

Description

Title
Body modeling and inverse dynamics: A modeling toolkit
Author(s)
Awni, Hani
Contributor(s)
Ratnam, Rama
Issue Date
2017-08
Keyword(s)
  • body modeling
  • inverse dynamics
  • modeling toolkit for body layout model
Abstract
Inferring the inverse dynamics of any arbitrary body layout with a minimal sensor array has been a long-standing challenge for biomechanicists and roboticists alike. In this work we present a nonspecialist-approachable toolset for constructing a symbolic physics model of an arbitrary body layout. This symbolic physics model includes the Coriolis/Gravity matrix C( _q; q), the mass matrix M(q), and the Jacobian Jbk (q) and transformation matrices Tbk (q) for each body segment bk. Tbk(q) for each body segment bk. This toolset combines the Mathematica packages Dynamics Workbench and Robotica, along with a script to piece together the complete final matrices for numerical evaluation as a python numpy array. To demonstrate the validity of the toolset, we replicate the well-known two-joint planar arm model. This toolset is an important first step toward the future implementation of a modular inverse dynamics solver that flexibly uses arbitrary sensor configurations. The ultimate goal is better prediction and mitigation of fall risk among elderly people in their home environment.
Type of Resource
text
Language
en
Permalink
http://hdl.handle.net/2142/99543

Owning Collections

Senior Theses - Electrical and Computer Engineering PRIMARY
The best of ECE undergraduate research