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Angular Momentum Control in Coordinated Behaviors [chapter]

Victor Zordan
2010 Lecture Notes in Computer Science  
This paper explores the many uses of angular momentum regulation and its role in the synthesis of coordinated motion generated with physically based characters.  ...  Previous investigations in biomechanics, robotics, and animation are discussed and a straightforward organization is described for distinguishing the needs and control approaches of various behaviors including  ...  The concepts described in this paper highlight the importance of angular momentum control over whole-body coordinated behaviors in all human activities.  ... 
doi:10.1007/978-3-642-16958-8_12 fatcat:mgjxu3a7ufa6tlfezzbo2hw6ce

Page 1016 of Journal of Spacecraft and Rockets Vol. 6, Issue 9 [page]

1969 Journal of Spacecraft and Rockets  
Starting from PITCH SOLAR PRESSURE DISTURBANCE TORQUE iN GEOCENTRIC COORDINATES ISyz'5 PITCH GRAVITY - PITCH BOOM ANGLE Uc 101410 PITCH IN WHEEL COORDINATES <q 5 MOMENTUM REES © PITCH BEHAVIOR FOR 8.5°  ...  The rate of change of angular momentum of each body is then expressed in terms of this acceleration and the control and disturbance torques acting on each body.  ... 

Is angular momentum in the horizontal plane during gait a controlled variable?

Valerie Thielemans, Pieter Meyns, Sjoerd M. Bruijn
2014 Human Movement Science  
In order to examine the behavior of angular momentum, 12 participants walked in 17 conditions in which angular momentum of either the arms or legs was manipulated.  ...  It has been suggested that angular momentum in the horizontal plane during human gait is controlled (i.e., kept minimal).  ...  Therefore it seems that the conservation of interlimb coordination plays a critical role in controlling total body angular momentum.  ... 
doi:10.1016/j.humov.2014.03.003 pmid:24703335 fatcat:qk6lw3fdy5dyjewqswmme43zya

Option selection in whole-body rotation movements in gymnastics

Thomas HEINEN, Marc NICOLAUS
2016 Revista Brasileira de Educação Física e Esporte : RBEFE  
When a gymnast performs a somersault, the linear and angular momentum along with a particular control of inertia during the flight phase constrain the possibilities for action.  ...  A subsequent analysis of the movement option landscape for the optimum angular momentum revealed ten coordination states for a single somersault that could be clearly distinguished based on the simulation  ...  One coordination state comprises a particular amount of variability, and Abstract When a gymnast performs a somersault, the linear and angular momentum along with a particular control of inertia during  ... 
doi:10.1590/1807-55092016000100029 fatcat:ruuyxsz2j5dt7co4mo3yghfywe

On space vehicle attitude stabilization by passive control moment gyros

J. W. Schindelin
1970 Ingenieur-Archiv  
In order to establish the equations of motion of the carrier, the components of the carrier angular momentum vector t have first to be expressed in the XYZ coordinate system.  ...  Here they are presented for the case shown in Figure 5 . The spin angular momentum vector H 2 of the third CMG can movein the Y b z b coordinate plane.  ... 
doi:10.1007/bf00532627 fatcat:b4tm3jtgunhhphrsluiab2ekpy

From Biomechanics to Robotics [chapter]

Galo Maldonado, Philippe Souères, Bruno Watier
2018 Springer Tracts in Advanced Robotics  
How does the central nervous system select and coordinate different degrees of freedom to execute a given movement?  ...  If some invariants of movement can be identified, there exists however considerable variability showing that motor control favors rather an envelope of possible movements than a strong stereotypy.  ...  gains to upper joints when controlling the angular momentum in accordance to our biomechanical study.  ... 
doi:10.1007/978-3-319-93870-7_3 fatcat:tn7t6oh7i5ej5kxmz4pbnhifka

Simply mechanized attitude control for spinning vehicles

J. G. BLAND, G. W. LECOMPTE
1964 Journal of Spacecraft and Rockets  
The application of an impulsive torque to the body causes the change in angular momentum, AH. The ensuing motion of the spin axis is a conical nuta- tion about the new angular momentum vector, H;.  ...  An instantaneous change in the orientation of the angular momentum vector, due to an impulsive torque, is represented by a change in the vector h.  ... 
doi:10.2514/3.27708 fatcat:5hclp3s4wzgq5m7ahryhpthkli

Special optimization problem of control mode of spacecraft motion

Levskii MV
2018 International Robotics & Automation Journal  
In this paper, the solving the original specific problem of optimal control is described.  ...  For dynamically symmetric spacecraft, complete solution of spacecraft reorientation problem in closed form is given.  ...  It is characteristic for the "trajectory of free motion" that the spacecraft's angular momentum remains constant in inertial coordinate system.  ... 
doi:10.15406/iratj.2018.04.00159 fatcat:jhvevnvfzvey3dgqkbsg5bbyyu

Page 1049 of Journal of Spacecraft and Rockets Vol. 7, Issue 9 [page]

1970 Journal of Spacecraft and Rockets  
sub-bodies along the di- agonal (n is the number of sub-bodies ) total vehicle mass angular momentum ratio defined in Eq. (21) coordinate matrix of flexible appendage matrix in B basis of vector from  ...  The presence of a damper on a nonrotating platform would in the absence of flexibility and active control maintain the rotor spin axis in coincidence with the angular momentum vector.  ... 

Page 287 of Journal of Spacecraft and Rockets Vol. 7, Issue 3 [page]

1970 Journal of Spacecraft and Rockets  
inertia of body with x,y,z coordinates spin rate of equivalent body angular momentum of body with x,y,z coordinates radius of fixed circle in graphical method transverse inertia of rest of system : radius  ...  of rolling circle in graphical method spin axis angular momentum of rest of system ef total spin axis angular momentum Received January 13, 1969; revision received November 10, Introduction 1969.  ... 

A parametric study of the behavior of the angular momentum vector during spin rate changes of rigid-body spacecraft

J. M. LONGUSKI, T. KIA
1984 Journal of Guidance Control and Dynamics  
An Example of Parametric Behavior of the Angular Momentum Vector In this section we will study the parametric behavior of the angular momentum vector during spinup and spindown maneuvers for a specific  ...  GUIDANCE A Parametric Study of the Behavior of the Angular Momentum Vector During Spin Rate Changes of Rigid-Body Spacecraft James M.  ... 
doi:10.2514/3.19858 fatcat:ptgr2um7yfgxblwg6qzhvaceiu

Attitude simulation software to support Brazilian space missions

Valdemir Carrara
2011 Journal of Aerospace Engineering Sciences and Applications  
Normally the dynamic equations are expressed in angular momentum components, due to the high complexity of these equations when derived in terms of the angular velocity.  ...  In this case a more complex but fast set of equations in terms of the angular velocity is the best choice.  ...  Software validation was carried out by means of the dynamic behavior of the satellite attitude, together with analysis of the angular momentum and kinetic energy.  ... 
doi:10.7446/jaesa.0303.02 fatcat:xduy6lv4qzes3nil4dpxybenfq

Controlling the Spins Angular Momentum in Ferromagnets with Sequences of Picosecond Acoustic Pulses

Ji-Wan Kim, Mircea Vomir, Jean-Yves Bigot
2015 Scientific Reports  
Precession of the magnetization in spherical coordinates with a time dependent anisotropy: analogy with a pendulum experiencing a fast perturbation of its angular momentum.  ...  In section 1 we make the analogy between the magnetization dynamics excited by acoustic pulses and a two dimensional pendulum by considering the Landau-Lifshitz equation in spherical coordinates ( , ,  ...  As expected the behavior is the same as in the analytical case(Fig.  ... 
doi:10.1038/srep08511 pmid:25687970 pmcid:PMC4330532 fatcat:mvbejofqjfco3dtvuklukfx5hu

Hyperspherical approach to a three-boson problem in two dimensions with a magnetic field

Seth T. Rittenhouse, Andrew Wray, B. L. Johnson
2016 Physical Review A  
In the case of weak attractive or repulsive interactions, we find the lowest three-body energy states exhibit even/odd parity oscillations as a function of total internal 2D angular momentum and that for  ...  weak repulsive interactions, the universal lowest energy interacting state has an internal angular momentum of M=3.  ...  j e −|zj | 2 /l 2 c , (28) where z j = x j +iy j is the jth boson's position in the laboratory frame written in complex coordinates and m j ≥ 0 is the angular momentum of particle j.  ... 
doi:10.1103/physreva.93.012511 fatcat:qx22w5h4jjcztg6c2drtwwxgpy

Momentum-Mapped Inverted Pendulum Models for Controlling Dynamic Human Motions

Taesoo Kwon, Jessica K. Hodgins
2017 ACM Transactions on Graphics  
In this article, we present an approach for control system design that can generate animations of a diverse set of behaviors including walking, running, and a variety of gymnastic behaviors.  ...  We analyze reference motion capture data in a pre-processing step to extract the motion of the MMIPM.  ...  In this work, a desired rate of change of angular momentum is derived to control the COP near the center of support.  ... 
doi:10.1145/2983616 fatcat:ofahb6ibnfbnbojfjdxmrc5jdq
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