Human-Like Biomechanics is a comprehensive introduction into modern
geometrical methods to be used as a unified research approach in
two apparently separate and rapidly growing fields: mathematical
biomechanics and humanoid robotics. The term human-like
biomechanics is used to denote this unified modelling and control
approach to humanoid robotics and mathematical biomechanics, based
on theoretical mechanics, differential geometry and topology,
nonlinear dynamics and control, and path-integral methods. From
this geometry-mechanics-control modelling perspective, "human" and
"humanoid" means the same. This unified approach enables both
design of humanoid systems of immense complexity and
prediction/prevention of subtle neuro-musculo-skeletal injuries.
This approach has been realized in the form of the world-leading
human-motion simulator with 264 powered degrees of freedom, called
Human Biodynamics Engine (developed in Defence Science &
Technology Organisation, Australia).
The book contains six Chapters and an Appendix. The first
Chapter is an Introduction, giving a brief review of mathematical
techniques to be used in the text. The second Chapter develops
geometrical basis of human-like biomechanics, while the third
Chapter develops its mechanical basis, mainly from generalized
Lagrangian and Hamiltonian perspective. The fourth Chapter develops
topology of human-like biomechanics, while the fifth Chapter
reviews related nonlinear control techniques. The sixth Chapter
develops covariant biophysics of electro-muscular stimulation. The
Appendix consists of two parts: classical muscular mechanics and
modern path integral methods, which are both used frequently in the
main text. Thewhole book is based on the authorsa (TM) own research
papers in human-like biomechanics.
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