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Modeling, Simulation and Optimization of Bipedal Walking
96,29 €*
ISBN-13:
9783642363689
Veröffentl:
2013
Seiten:
290
Autor:
Katja Mombaur
Serie:
18, Cognitive Systems Monographs
eBook Typ:
PDF
eBook Format:
EPUB
Kopierschutz:
1 - PDF Watermark
Sprache:
Englisch
Beschreibung:
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
This book examines basic forms of locomotion such as walking and running, and explores the use of mathematical models and numerical simulation and optimization techniques, in combination with experimental data, to better understand the underlying mechanisms.
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.