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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.
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.
In the past decades, much progress has been made in the ?eld 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 com- nity of researchers
from robotics, biomechanics, control engineering and -
pliedmathematicstocometogetherinHeidelbergatthe?rstRuperto-Carola-
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.
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