Document Type

Thesis

Date of Degree

Spring 2012

Degree Name

MS (Master of Science)

Degree In

Civil and Environmental Engineering

First Advisor

Jasbir Arora

Abstract

Recent advances in predictive dynamics allow the user to not only predict physics based human motion simulations but also determine the actuation torques required to achieve those motions. The predictive dynamics approach uses optimization to predict motion while using many task based, physics based, and environment based constraints including the equations of motion. Many tasks have been simulated using this new method of predicting and simulating digital human motion, e.g. walking, running, stair climbing, and box lifting. In this research, we develop a method to predict the motion as well as effect of external equipment hanging on the digital human. The proposed method is tested on a simple case of a two degree of freedom serial chain mechanism with a simple passive system to behave as external equipment. In particular, the passive mass is assumed to be attached to the two links system with a spring and damper. The results of the proposed method are compared with the results obtained by integrating the equations of motion of the full three degree of freedom system.

Keywords

Multy body dynamics, predictive dynamics

Pages

viii, 79 pages

Bibliography

Includes bibliographical references (page 79).

Copyright

Copyright 2012 Jun Choi

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