Abstract
Whole body motion dynamic analysis is a complex job since the required parameters are not easy to obtain. This study proposes a method for determining the dynamic parameters of whole body. Then the wrench screw exerts on the body ($0) is computed by the Newton/Euler equations. The computing of single foot reaction wrench is trivial using screw theory. However, there is no single solution for double feet contact. Using linear dependency among the reactions of both feet and $0, there are 12 equations to solve 14 unknowns. The geometry of the reaction screws compose a general two-system, namely a cylindroid, is characterized by two parameters. Therefore, an optimal foot reactions can be computed under the assumption of minimum internal moment generated by the two contact screws.
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Acknowledgements
The financial support from Ministry of Science and Technology of Taiwan through the grant number: MOST 105-2221-E-006-080, is greatly appreciative. The authors want to express our great thanks to Mr. Tseng, Chi-Juang, a grand master of Chinese Martial Art, who contributed precious actions in video recording that make this study possible.
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Tsai, MJ., Yin, WS. (2019). Foot Reaction Analysis of Whole Body Dynamic via Screw Theory. In: (Chunhui) Yang, R., Takeda, Y., Zhang, C., Fang, G. (eds) Robotics and Mechatronics. ISRM 2017. Mechanisms and Machine Science, vol 72. Springer, Cham. https://doi.org/10.1007/978-3-030-17677-8_9
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DOI: https://doi.org/10.1007/978-3-030-17677-8_9
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