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Title:Body modeling and inverse dynamics: A modeling toolkit
Author(s):Awni, Hani
Contributor(s):Ratnam, Rama
Subject(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.
Issue Date:2017-08
Date Available in IDEALS:2018-03-15

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