Lecture Notes in Control and Information Sciences

Fast Motions in Biomechanics and Robotics

Optimization and Feedback Control

Editors: Diehl, Moritz, Mombaur, Katja (Eds.)

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About this book

In the past decades, much progress has been made in the field of walking robots. The current state of technology makes it possible to create humanoid robots that nearly walk like a human being, climb stairs, or avoid small - stacles. However, the dream of a robot running as fast and as elegantly as a human is still far from becoming reality. Control of such fast motions is still a big technological issue in robotics, and the maximum running speed of contemporary robots is still much smaller than that of human track runners. The conventional control approach that most of these robots are based on does not seem to be suitable to increase the running speeds up to a biological level.

In order to address this challenge, we invited an interdisciplinary community of researchers from robotics, biomechanics, control engineering and applied mathematics to come together in Heidelberg at the Symposium “Fast Motions in Biomechanics and Robotics – Optimization & Feedback Control” which was held at the International Science Forum (IWH) on September 7–9, 2005. The number of participants in this symposium was kept small in order to promote discussions and enable a fruitful exchange of ideas.

Table of contents (7 chapters)

  • Fast Direct Multiple Shooting Algorithms for Optimal Robot Control

    M. Diehl, H.G. Bock, H. Diedam, et al.

    Pages 65-93

  • Investigating the Use of Iterative Learning Control and Repetitive Control to Implement Periodic Gaits

    R.W. Longman, K.D. Mombaur

    Pages 189-218

  • Velocity-Based Stability Margins for Fast Bipedal Walking

    J.E. Pratt, R. Tedrake

    Pages 299-324

  • Nonlinear Model Predictive Control and Sum of Squares Techniques

    T. Raff, C. Ebenbauer, R. Findeisen, F. Allgöwer

    Pages 325-344

  • Running and Walking with Compliant Legs

    A. Seyfarth, H. Geyer, R. Blickhan, et al.

    Pages 383-401

Buy this book

eBook $229.00
price for USA (gross)
  • ISBN 978-3-540-36119-0
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Softcover $289.00
price for USA
  • ISBN 978-3-540-36118-3
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Fast Motions in Biomechanics and Robotics
Book Subtitle
Optimization and Feedback Control
Editors
  • Moritz Diehl
  • Katja Mombaur
Series Title
Lecture Notes in Control and Information Sciences
Series Volume
340
Copyright
2006
Publisher
Springer-Verlag Berlin Heidelberg
Copyright Holder
Springer-Verlag Berlin Heidelberg
eBook ISBN
978-3-540-36119-0
DOI
10.1007/978-3-540-36119-0
Softcover ISBN
978-3-540-36118-3
Series ISSN
0170-8643
Edition Number
1
Number of Pages
XIV, 446
Topics