Modeling, Simulation and Optimization of Bipedal Walking

290 Seiten, Taschenbuch

Kurzbeschreibung des Verlags

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 systems

Optimized walking motions for different objective functions

Identification of objective functions from measurements

Simulation and optimization approaches for humanoid robots

Biologically inspired control algorithms for bipedal walking

Generation and deformation of natural walking in computer graphics

Imitation of human motions on humanoids

Emotional body language during walking

Simulation of biologically inspired actuators for bipedal walking machines

Modeling and simulation techniques for the development of prostheses

Functional electrical stimulation of walking.

• Reihe: Cognitive Systems Monographs
• Themen: Technologie, Ingenieurswissenschaft, Landwirtschaft, Industrieprozesse Energietechnik, Elektrotechnik und Energiemaschinenbau Elektrotechnik
• ISBN: 9783642448157
• Sprache: Englisch
• Erscheinungsdatum: 07.03.2015
• Größe: 23.5 x 15.5 cm
• Verlag: Springer Berlin
• Herausgegeben von: Katja Mombaur, Karsten Berns