Multibody model of a human body

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23640%2F14%3A43930405" target="_blank" >RIV/49777513:23640/14:43930405 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Multibody model of a human body
Original language description
Purpose of this work is to establish a model of human body based on the multibody principle. System of rigid bodies constrained in open kinematic tree structure to approximate external geometry of a real humanoid is being demonstrated. Author uses Lagrange’s equations of a mixed type with multipliers for derivation of equation of motion. Firstly the energy balance method are introduced, namely the kinetic and the potential energy for most general case (centre of gravity does not coincide with origin of local body-fixed coordinate system). The bodies are linked with spherical joints representing the real joints of the human. As consequence, the equations of kinematic constraints are derived and the equation of motion of a full human body system in a compact matrix is developed. Finally author presents numerical of solution of contact-less motion of the system provide in MATLAB software.
Czech name
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Czech description
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Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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