LEADER 03661nam 2200577Ia 450 001 9910739469503321 005 20200520144314.0 010 $a3-642-36368-7 024 7 $a10.1007/978-3-642-36368-9 035 $a(OCoLC)878127510 035 $a(MiFhGG)GVRL6WGE 035 $a(CKB)2670000000533553 035 $a(MiAaPQ)EBC1206124 035 $a(EXLCZ)992670000000533553 100 $a20130312d2013 uy 0 101 0 $aeng 135 $aurun|---uuuua 181 $ctxt 182 $cc 183 $acr 200 00$aModeling, simulation and optimization of bipedal walking /$fKatja Mombaur and Karsten Berns (eds.) 205 $a1st ed. 2013. 210 $aBerlin ;$aHeidelberg $cSpringer$dc2013 215 $a1 online resource (viii, 290 pages) $cillustrations (some color) 225 0 $aCognitive systems monographs,$x1867-4925 ;$v18 300 $aIncludes author index. 311 $a3-642-36367-9 311 $a3-642-44815-1 320 $aIncludes bibliographical references and index. 327 $aFrom the Contents: Trajectory-Based Dynamic Programming -- Use of Compliant Actuators in Prosthetic Feet and the Design of the AMP-Foot 2.0 -- Modeling and Optimization of Human Walking -- Online CPG-based gait monitoring and optimal control of the ankle joint for assisted walking in hemiplegic subjects -- The combined role of motion-related cues and upper body posture for the expression of emotions during human walking. 330 $aThe model-based investigation of motions of anthropomorphic systems is an important interdisciplinary research topic involving specialists from many fields such as Robotics, Biomechanics, Physiology, Orthopedics, Psychology, Neurosciences, Sports, Computer Graphics and Applied Mathematics. This book presents a study of basic locomotion forms such as walking and running is of particular interest due to the high demand on dynamic coordination, actuator efficiency and balance control. Mathematical models and numerical simulation and optimization techniques are explained, in combination with experimental data, which can help to better understand the basic underlying mechanisms of these motions and to improve them. Example topics treated in this book are Modeling techniques for anthropomorphic bipedal walking systems Optimized walking motions for different objective functions Identification of objective functions from measurements Simulation and optimization approaches for humanoid robots Biologically inspired control algorithms for bipedal walking Generation and deformation of natural walking in computer graphics Imitation of human motions on humanoids Emotional body language during walking Simulation of biologically inspired actuators for bipedal walking machines Modeling and simulation techniques for the development of prostheses Functional electrical stimulation of walking. 410 0$aCognitive systems monographs ;$v18. 606 $aRobots$xMotion$xMathematical models 606 $aRobots$xMotion$xSimulation methods 606 $aBipedalism$xMathematical models 606 $aBipedalism$xSimulation methods 615 0$aRobots$xMotion$xMathematical models. 615 0$aRobots$xMotion$xSimulation methods. 615 0$aBipedalism$xMathematical models. 615 0$aBipedalism$xSimulation methods. 676 $a629.8 676 $a629.8/932 701 $aMombaur$b Katja$01759288 701 $aBerns$b Karsten$0938232 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910739469503321 996 $aModeling, simulation and optimization of bipedal walking$94197697 997 $aUNINA