Simulation of One‐HandedHandstand
Thibaut De Bock
BME 599BME 599
Spring 2012
Motivated by difficulty of achieving ll d h d d da controlled one handed stand
Center of mass must stay within ll b dsmall boundary
Center of mass of entire body must i l d ll b dinclude all body segments
• 130 Bodies130 Bodies
• 53 DOF53 DOF
• 156 Muscles156 Muscles
All Bodies need mass for forward d i d li i COMdynamics and realistic COM
Finding center of mass f iof entire system
Hand needs contact modelcontact model to interact with
dground
Arrange full body into handstand i iposition
Arrange full body into handstand i iposition
COM Over Hand inC l PlCoronal Plane
COM Over Hand inS i l PlSagittal Plane
Let body bounce to find settling i iposition
Lock body as one and see balance i h f d d i lwith forward dynamics tool
Use Static Optimization to find i l l loptimal muscle controls
Results from Inverse Dynamics
Results from Inverse Dynamics
Results from Inverse Dynamics:S i PStatic Pose
Limitations: Hand was not modeled i di id l f fias individual free fingers
Limitations: Body segment masses i dwere estimated
Total body mass ~ 98kg~ 215lbs
Limitations: Model was too weak to h ld f i i i ihold for static optimization
Limitations:Limitations: Global Global
reference frame was at the hipat the hip not hand
Future Directions
I t th f l• Increase strength of muscles
• Set body masses a bit lower
• Incorporate hand with more DOF
• Simplify some unnecessary parts
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