Modeling, Simulation and Optimization of Bipedal Walking

✍ Scribed by Christopher G. Atkeson, Chenggang Liu (auth.), Katja Mombaur, Karsten Berns (eds.)

• Publisher: Springer-Verlag Berlin Heidelberg
• Year: 2013
• Tongue: English
• Leaves: 288
• Series: Cognitive Systems Monographs 18
• Edition: 1
• Category: Library

✦ Synopsis

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.

✦ Table of Contents

Front Matter....Pages 1-7
Trajectory-Based Dynamic Programming....Pages 1-15
Use of Compliant Actuators in Prosthetic Feet and the Design of the AMP-Foot 2.0....Pages 17-30
Modeling and Optimization of Human Walking....Pages 31-42
Motion Generation with Geodesic Paths on Learnt Skill Manifolds....Pages 43-51
Online CPG-Based Gait Monitoring and Optimal Control of the Ankle Joint for Assisted Walking in Hemiplegic Subjects....Pages 53-69
The Combined Role of Motion-Related Cues and Upper Body Posture for the Expression of Emotions during Human Walking....Pages 71-85
Whole Body Motion Control Framework for Arbitrarily and Simultaneously Assigned Upper-Body Tasks and Walking Motion....Pages 87-98
Structure Preserving Optimal Control of Three-Dimensional Compass Gait....Pages 99-116
Quasi-straightened Knee Walking for the Humanoid Robot....Pages 117-130
Modeling and Control of Dynamically Walking Bipedal Robots....Pages 131-143
In Humanoid Robots, as in Humans, Bipedal Standing Should Come before Bipedal Walking: Implementing the Functional Reach Test....Pages 145-153
A New Optimization Criterion Introducing the Muscle Stretch Velocity in the Muscular Redundancy Problem: A First Step into the Modeling of Spastic Muscle....Pages 155-164
Forward and Inverse Optimal Control of Bipedal Running....Pages 165-179
Synthesizing Human-Like Walking in Constrained Environments....Pages 181-186
Locomotion Synthesis for Digital Actors....Pages 187-198
Whole-Body Motion Synthesis with LQP-Based Controller – Application to iCub....Pages 199-210
Walking and Running: How Leg Compliance Shapes the Way We Move....Pages 211-222
Modeling and Simulation of Walking with a Mobile Gait Rehabilitation System Using Markerless Motion Data....Pages 223-232
Optimization and Imitation Problems for Humanoid Robots....Pages 233-247
Motor Control and Spinal Pattern Generators in Humans....Pages 249-259
Modeling Human-Like Joint Behavior with Mechanical and Active Stiffness....Pages 261-272
Geometry and Biomechanics for Locomotion Synthesis and Control....Pages 273-287
Back Matter....Pages 289-290

✦ Subjects

Electrical Engineering;Robotics and Automation;Artificial Intelligence (incl. Robotics);Systems Biology;Biophysics and Biological Physics;Physiological, Cellular and Medical Topics