Modeling, Simulation and Optimization of Bipedal Walking, 1st Edition

  • Published By:
  • ISBN-10: 3642363687
  • ISBN-13: 9783642363689
  • DDC: 629.8932
  • Grade Level Range: College Freshman - College Senior
  • 290 Pages | eBook
  • Original Copyright 2013 | Published/Released April 2014
  • This publication's content originally published in print form: 2013

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The model-based investigation of motions of anthropomorphic systems is an important interdisciplinary research topic involving specialists from many fields such as Robotics, Biomechanics, Physiology, Orthopedics, Psychology, Neurosciences, Sports, Computer Graphics and Applied Mathematics. This book presents a study of basic locomotion forms such as walking and running is of particular interest due to the high demand on dynamic coordination, actuator efficiency and balance control. Mathematical models and numerical simulation and optimization techniques are explained, in combination with experimental data, which can help to better understand the basic underlying mechanisms of these motions and to improve them. Example topics treated in this book areModeling techniques for anthropomorphic bipedal walking systemsOptimized walking motions for different objective functionsIdentification of objective functions from measurementsSimulation and optimization approaches for humanoid robotsBiologically inspired control algorithms for bipedal walkingGeneration and deformation of natural walking in computer graphicsImitation of human motions on humanoidsEmotional body language during walking Simulation of biologically inspired actuators for bipedal walking machinesModeling and simulation techniques for the development of prosthesesFunctional electrical stimulation of walking.

Table of Contents

Front Cover.
Cognitive Systems Monographs.
Title Page.
Copyright Page.
Table of Contents.
1: Trajectory-Based Dynamic Programming.
2: Use of Compliant Actuators in Prosthetic Feet and the Design of the AMP-Foot 2.0.
3: Modeling and Optimization of Human Walking.
4: Motion Generation with Geodesic Paths on Learnt Skill Manifolds*.
5: Online CPG-Based Gait Monitoring and Optimal Control of the Ankle Joint for Assisted Walking in Hemiplegic Subjects.
6: The Combined Role of Motion-Related Cues and Upper Body Posture for the Expression of Emotions during Human Walking.
7: Whole Body Motion Control Framework for Arbitrarily and Simultaneously Assigned Upper-Body Tasks and Walking Motion.
8: Structure Preserving Optimal Control of Three-Dimensional Compass Gait.
9: Quasi-Straightened Knee Walking for the Humanoid Robot.
10: Modeling and Control of Dynamically Walking Bipedal Robots.
11: In Humanoid Robots, as in Humans, Bipedal Standing Should Come before Bipedal Walking: Implementing the Functional Reach Test.
12: A New Optimization Criterion Introducing the Muscle Stretch Velocity in the Muscular Redundancy Problem: A First Step into the Modeling of Spastic Muscle.
13: Forward and Inverse Optimal Control of Bipedal Running.
14: Synthesizing Human-Like Walking in Constrained Environments.
15: Locomotion Synthesis for Digital Actors.
16: Whole-Body Motion Synthesis with LQP-Based Controller – Application to iCub.
17: Walking and Running: How Leg Compliance Shapes the Way We Move.
18: Modeling and Simulation of Walking with a Mobile Gait Rehabilitation System Using Markerless Motion Data.
19: Optimization and Imitation Problems for Humanoid Robots.
20: Motor Control and Spinal Pattern Generators in Humans.
21: Modeling Human-Like Joint Behavior with Mechanical and Active Stiffness.
22: Geometry and Biomechanics for Locomotion Synthesis and Control.
Author Index.