Human and Machine Locomotion

1. Front Matter

   Pages ii-vii

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2. Modelling and Simulation of Human and Walking Robot Locomotion

   • A. Morecki

   Pages 1-78

3. Characteristics of Human Locomotion

   • N. Berme, E. Oggero, G. Pagnacco

   Pages 79-86

4. Modeling and Simulation of Human Locomotion

   • N. Berme, E. Oggero, G. Pagnacco

   Pages 87-105

5. Some Theoretical and Practical Aspects of Modelling and Simulation of the Human Musculoskeletal System

   • M. Dietrich, K. Kedzior, C. Rzymkowski

   Pages 107-123

6. A Biomechanical Model of the Human Musculoskeletal System

   • K. Kedzior, T. Zagrajek

   Pages 125-152

7. Dynamic Models, Control Synthesis and Stability of Biped Robots Gait

   • M. Vukobratovic

   Pages 153-190

8. Ballistic Locomotion of a Biped

   • A. M. Formal’sky

   Pages 191-229

9. Theory and Practice of Machine Walking

   • F. Pfeiffer, Th. Rossmann, J. Steuer

   Pages 231-281

10. Design of Walking Machines

    • K. J. Waldron

    Pages 283-315

This book covers the state-of-the-art in both biological and artificial legged locomotion systems. The seven chapters focus on topics ranging from very detailed modelling of the musculo-skeletal system, through mathematical modelling and simulation to theories applicable to locomotion mechanics and control. The final two chapters deal with the mechanics, control and design of artificial legged locomotion systems.

• biped robot
• musculoskeletal system
• robot machine walking
• design
• mechanics
• model
• modeling
• simulation
• stability

• Warsaw University of Technology, Poland

  A. Morecki

• Ohio State University, USA

  K. J. Waldron

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