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About this book

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 are

Modeling 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


2013 | OriginalPaper | Chapter

Trajectory-Based Dynamic Programming

Christopher G. Atkeson, Chenggang Liu

2013 | OriginalPaper | Chapter

Use of Compliant Actuators in Prosthetic Feet and the Design of the AMP-Foot 2.0

Pierre Cherelle, Victor Grosu, Michael Van Damme, Bram Vanderborght, Dirk Lefeber

2013 | OriginalPaper | Chapter

Modeling and Optimization of Human Walking

Martin Felis, Katja Mombaur

2013 | OriginalPaper | Chapter

Motion Generation with Geodesic Paths on Learnt Skill Manifolds

Ioannis Havoutis, Subramanian Ramamoorthy

2013 | OriginalPaper | Chapter

Online CPG-Based Gait Monitoring and Optimal Control of the Ankle Joint for Assisted Walking in Hemiplegic Subjects

Rodolphe Héliot, Katja Mombaur, Christine Azevedo-Coste

2013 | OriginalPaper | Chapter

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, Alain Berthoz

2013 | OriginalPaper | Chapter

Whole Body Motion Control Framework for Arbitrarily and Simultaneously Assigned Upper-Body Tasks and Walking Motion

Doik Kim, Bum-Jae You, Sang-Rok Oh

2013 | OriginalPaper | Chapter

Structure Preserving Optimal Control of Three-Dimensional Compass Gait

Sigrid Leyendecker, David Pekarek, Jerrold E. Marsden

2013 | OriginalPaper | Chapter

Quasi-straightened Knee Walking for the Humanoid Robot

Zhibin Li, Bram Vanderborght, Nikos G. Tsagarakis, Darwin G. Caldwell

2013 | OriginalPaper | Chapter

Modeling and Control of Dynamically Walking Bipedal Robots

Tobias Luksch, Karsten Berns

2013 | OriginalPaper | Chapter

In Humanoid Robots, as in Humans, Bipedal Standing Should Come before Bipedal Walking: Implementing the Functional Reach Test

Vishwanathan Mohan, Jacopo Zenzeri, Giorgio Metta, Pietro Morasso

2013 | OriginalPaper | Chapter

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, R. Dumas, L. Chèze

2013 | OriginalPaper | Chapter

Forward and Inverse Optimal Control of Bipedal Running

Katja Mombaur, Anne-Hélène Olivier, Armel Crétual

2013 | OriginalPaper | Chapter

Synthesizing Human-Like Walking in Constrained Environments

Jia Pan, Liangjun Zhang, Dinesh Manocha

2013 | OriginalPaper | Chapter

Locomotion Synthesis for Digital Actors

Julien Pettré

2013 | OriginalPaper | Chapter

Whole-Body Motion Synthesis with LQP-Based Controller – Application to iCub

Joseph Salini, Sébastien Barthélemy, Philippe Bidaud, Vincent Padois

2013 | OriginalPaper | Chapter

Walking and Running: How Leg Compliance Shapes the Way We Move

Andre Seyfarth, Susanne Lipfert, Jürgen Rummel, Moritz Maus, Daniel Maykranz

2013 | OriginalPaper | Chapter

Modeling and Simulation of Walking with a Mobile Gait Rehabilitation System Using Markerless Motion Data

S. Slavnić, A. Leu, D. Ristić-Durrant, A. Graeser

2013 | OriginalPaper | Chapter

Optimization and Imitation Problems for Humanoid Robots

Wael Suleiman, Eiichi Yoshida, Fumio Kanehiro, Jean-Paul Laumond, André Monin

2013 | OriginalPaper | Chapter

Motor Control and Spinal Pattern Generators in Humans

Heiko Wagner, Arne Wulf, Sook-Yee Chong, Thomas Wulf

2013 | OriginalPaper | Chapter

Modeling Human-Like Joint Behavior with Mechanical and Active Stiffness

Thomas Wahl, Karsten Berns

2013 | OriginalPaper | Chapter

Geometry and Biomechanics for Locomotion Synthesis and Control

Katsu Yamane


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