Least action principles and their application to constrained and task-level problems in robotics and biomechanics

DOI10.1007/S11044-007-9097-8MaRDI QIDQ2481614zbMATH OpenOpenAlexFDO

Authors Vincent De Sapio, Oussama Khatib, Scott Delp

Publication date 11 April 2008

Published in Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11044-007-9097-8

zbMATH Keywords

geodesic pathholonomic systemmusculoskeletal systemoptimization

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Holonomic systems related to the dynamics of a system of particles (70F20) Control of mechanical systems (70Q05) Biomechanics (92C10)

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Cites work

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• Inverse dynamics of servo-constraints based on the generalized inverse
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• Predicting reaching postures using a kinematically constrained shoulder model
• Simulating discrete and rhythmic multi-joint human arm movements by optimization of nonlinear performance indices
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Cited in

(6)

• A discrete mechanics approach for musculoskeletal simulations with muscle wrapping
• Mechanical Advantage: The Archimedean Tradition of Acquiring Geometric Insight form Mechanical Metaphor
• Generation of natural motions for redundant multi-joint systems: A differential-geometric approach based upon the principle of least actions
• Nonlinear generalised dynamic inversion for aircraft manoeuvring control
• Open-source projects for autonomous robotics and systems: a survey
• On the Historical Development of Human Walking Dynamics

Describes a project that uses

Uses Software

• Optimization Toolbox

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