Biomedical Engineering Reference
In-Depth Information
5.10
Example formulations
The next section presents summary formulations for various tasks of predictive
dynamics. The major components for each task are presented in a figure:
a.
Walking [
Figure 5.23A
]
b.
Box lifting [
Figure 5.23B
]
c.
Stairs climbing [
Figure 5.23C
]
d.
Throwing [
Figure 5.23D
]
e.
Ladder climbing [
Figure 5.23E
]
f.
Running [
Figure 5.23F
]
g.
Kneeling [
Figure 5.23G
]
h.
Jumping [
Figure 5.23H
]
5.11
Concluding remarks
Predictive dynamics is a new method for simulating the response of a system
given a certain action. The most significant issue that summarizes this chapter is
characterized by this method's ability to solve for the motion without the need to
integrate the equations of motion. Unlike typical forward dynamics methods
FIGURE 5.23A
Walking.
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