Optimum Trajectory Planning Method for a System that Includes Passive Joints. 2nd Report. Analysis of the Giant Swing Motions and Their Systematic Search Method Based on Optimum Trajectory Planning.
Atushi Imadu, Kyosuke Ono, Koji Yamamoto · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 1999
We first searched global solutions of free giant swing motions of the two link model for a standard human body by forward dynamic simulations from all possible initial states within a specified region. Then we found that there are one free giant swing which exists in any motion Period and two others which appear in shorter period than 0.9 second. Next we investigated how we can efficiently obtain all of these global solutions by means of a numerical optimum trajectory planning method we have proposed in the previous paper. As a result, we propose a general search method to obtain all of optimum solutions including local optimum solutions.