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Title Modeling, simulation and optimization of bipedal walking / Katja Mombaur and Karsten Berns (eds.)
Published Berlin ; New York : Springer, ©2013


Description 1 online resource
Series Cognitive systems monographs, 1867-4925 ; 18
Cognitive systems monographs ; 18
Contents Trajectory-Based Dynamic Programming / Christopher G. Atkeson, Chenggang Liu -- Use of Compliant Actuators in Prosthetic Feet and the Design of the AMP-Foot 2.0 / Pierre Cherelle, Victor Grosu -- Modeling and Optimization of Human Walking / Martin Felis, Katja Mombaur -- Motion Generation with Geodesic Paths on Learnt Skill Manifolds / Ioannis Havoutis, Subramanian Ramamoorthy -- Online CPG-Based Gait Monitoring and Optimal Control of the Ankle Joint for Assisted Walking in Hemiplegic Subjects / Rodolphe Héliot, Katja Mombaur -- The Combined Role of Motion-Related Cues and Upper Body Posture for the Expression of Emotions during Human Walking / Halim Hicheur, Hideki Kadone, Julie Grèzes -- Whole Body Motion Control Framework for Arbitrarily and Simultaneously Assigned Upper-Body Tasks and Walking Motion / Doik Kim, Bum-Jae You, Sang-Rok Oh -- Structure Preserving Optimal Control of Three-Dimensional Compass Gait / Sigrid Leyendecker, David Pekarek -- Quasi-straightened Knee Walking for the Humanoid Robot / Zhibin Li, Bram Vanderborght -- Modeling and Control of Dynamically Walking Bipedal Robots / Tobias Luksch, Karsten Berns
In Humanoid Robots, as in Humans, Bipedal Standing Should Come before Bipedal Walking: Implementing the Functional Reach Test / Vishwanathan Mohan, Jacopo Zenzeri -- A New Optimization Criterion Introducing the Muscle Stretch Velocity in the Muscular Redundancy Problem: A First Step into the Modeling of Spastic Muscle / F. Moissenet, D. Pradon, N. Lampire -- Forward and Inverse Optimal Control of Bipedal Running / Katja Mombaur, Anne-Hélène Olivier -- Synthesizing Human-Like Walking in Constrained Environments / Jia Pan, Liangjun Zhang, Dinesh Manocha -- Locomotion Synthesis for Digital Actors / Julien Pettré -- Whole-Body Motion Synthesis with LQP-Based Controller -- Application to iCub / Joseph Salini, Sébastien Barthélemy -- Walking and Running: How Leg Compliance Shapes the Way We Move / Andre Seyfarth, Susanne Lipfert -- Modeling and Simulation of Walking with a Mobile Gait Rehabilitation System Using Markerless Motion Data / S. Slavnić, A. Leu, D. Ristić-Durrant -- Optimization and Imitation Problems for Humanoid Robots / Wael Suleiman, Eiichi Yoshida -- Motor Control and Spinal Pattern Generators in Humans / Heiko Wagner, Arne Wulf, Sook-Yee Chong-- Modeling Human-Like Joint Behavior with Mechanical and Active Stiffness / Thomas Wahl, Karsten Berns -- Geometry and Biomechanics for Locomotion Synthesis and Control / Katsu Yamane
Summary 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
Analysis Engineering
Artificial intelligence
Biological models
Physiology -- Mathematics
Computer engineering
Electrical Engineering
Robotics and Automation
Biophysics and Biological Physics
Bibliography Includes bibliographical references and index
Notes English
In Springer eBooks
Subject Robots -- Motion -- Mathematical models
Robots -- Motion -- Simulation methods
Bipedalism -- Mathematical models
Bipedalism -- Simulation methods
TECHNOLOGY & ENGINEERING -- Engineering (General)
Robots -- Motion -- Mathematical models.
Form Electronic book
Author Mombaur, Katja
Berns, Karsten
LC no. 2013930323
ISBN 9783642363689