Mombaur / Berns Modeling, Simulation and Optimization of Bipedal Walking

1. Auflage 2013
ISBN: 978-3-642-36368-9
Verlag: Springer
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, Band 18, 290 Seiten, eBook

Reihe: Cognitive Systems Monographs

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.

Zielgruppe

Research

Autoren/Hrsg.

Mombaur, Katja

Berns, Karsten

Inhaltsverzeichnis

From the Contents: Trajectory-Based Dynamic Programming.- Use of Compliant Actuators in Prosthetic Feet and the Design of the AMP-Foot 2.0.- Modeling and Optimization of Human Walking.- Online CPG-based gait monitoring and optimal control of the ankle joint for assisted walking in hemiplegic subjects.- The combined role of motion-related cues and upper body posture for the expression of emotions during human walking.