Fast motions in biomechanics and robotics : optimization and feedback control

Moritz Diehl, Katja Mombaur (eds.)

This volume contains a selection of papers presented at the First Ruperto-Carola-Symposium \Fast Motions in Biomechanics and Robotics - Optimization & Feedback Control", held at the International Science Forum Heidelberg (IWH), on September 7 - 9, 2005. The aim of this symposium was to provide a forum for an interdisciplinary community of researchers from robotics, biomechanics, control engineering and applied mathematics to enhance the understanding of the control of fast motions in nature and engineering.

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  • Re-injecting the Structure in NMPC Schemes Application to the Constrained Stabilization of a Snakeboard.- Recent Advances on the Algorithmic Optimization of Robot Motion.- A Spring Assisted One Degree of Freedom Climbing Model.- Fast Direct Multiple Shooting Algorithms for Optimal Robot Control.- Stability Analysis of Bipedal Walking with Control or Monitoring of the Center of Pressure.- Multi-Locomotion Control of Biped Locomotion and Brachiation Robot.- On the Determination of the Basin of Attraction for Stationary and Periodic Movements.- Task-Level Control of the Lateral Leg Spring Model of Cockroach Locomotion.- Investigating the Use of Iterative Learning Control and Repetitive Control to Implement Periodic Gaits.- Actuation System and Control Concept for a Running Biped.- Dynamical Synthesis of a Walking Cyclic Gait for a Biped with Point Feet.- Performing Open-Loop Stable Flip-Flops - An Example for Stability Optimization and Robustness Analysis of Fast Periodic Motions.- Achieving Bipedal Running with RABBIT: Six Steps Toward Infinity.- Velocity-Based Stability Margins for Fast Bipedal Walking.- Nonlinear Model Predictive Control and Sum of Squares Techniques.- Comparison of Two Measures of Dynamic Stability During Treadmill Walking.- Simple Feedback Control of Cockroach Running.- Running and Walking with Compliant Legs.- Self-stability in Biological Systems - Studies based on Biomechanical Models.- Holonomy and Nonholonomy in the Dynamics of Articulated Motion.- Dynamic Stability of a Simple Biped Walking System with Swing Leg Retraction.

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書名 Fast motions in biomechanics and robotics : optimization and feedback control
著作者等 Mombaur Katja
Diehl Moritz
シリーズ名 Lecture notes in control and information sciences
出版元 Springer
刊行年月 c2006
ページ数 xiii, 443 p.
大きさ 24 cm
ISBN 9783540361183
NCID BA7869806X
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言語 英語
出版国 ドイツ