Cognitive Systems Monographs

Modeling, Simulation and Optimization of Bipedal Walking

Editors: Mombaur, Katja, Berns, Karsten (Eds.)

  • State of the art in modelling, simulation and optimization of biped walking
  • Well structured book presenting a hot interdisciplinary research topic involving Robotics, Biomechanics, Physiology, Orthopedics, Psychology, Neurosciences, Sport, Computer Graphics and Applied Mathematics
  • Written by experts in the field
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  • ISBN 978-3-642-36368-9
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Hardcover $139.00
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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 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 (22 chapters)

  • Trajectory-Based Dynamic Programming

    Atkeson, Christopher G. (et al.)

    Pages 1-15

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

    Cherelle, Pierre (et al.)

    Pages 17-30

  • Modeling and Optimization of Human Walking

    Felis, Martin (et al.)

    Pages 31-42

  • Motion Generation with Geodesic Paths on Learnt Skill Manifolds

    Havoutis, Ioannis (et al.)

    Pages 43-51

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

    Héliot, Rodolphe (et al.)

    Pages 53-69

Buy this book

eBook $109.00
price for USA (gross)
  • ISBN 978-3-642-36368-9
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $139.00
price for USA
  • ISBN 978-3-642-36367-2
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Rent the ebook  
  • Rental duration: 1 or 6 month
  • low-cost access
  • online reader with highlighting and note-making option
  • can be used across all devices
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Bibliographic Information

Bibliographic Information
Book Title
Modeling, Simulation and Optimization of Bipedal Walking
Editors
  • Katja Mombaur
  • Karsten Berns
Series Title
Cognitive Systems Monographs
Series Volume
18
Copyright
2013
Publisher
Springer-Verlag Berlin Heidelberg
Copyright Holder
Springer-Verlag Berlin Heidelberg
eBook ISBN
978-3-642-36368-9
DOI
10.1007/978-3-642-36368-9
Hardcover ISBN
978-3-642-36367-2
Series ISSN
1867-4925
Edition Number
1
Number of Pages
VIII, 290
Number of Illustrations and Tables
102 b/w illustrations, 95 illustrations in colour
Topics