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BIOINSPIRED LEGGED LOCOMOTION. MODELS, CONCEPTS, CONTROL AND APPLICATIONS
Título:
BIOINSPIRED LEGGED LOCOMOTION. MODELS, CONCEPTS, CONTROL AND APPLICATIONS
Subtítulo:
Autor:
SHARBAFI, M
Editorial:
ACADEMIC PRESS
Año de edición:
2018
ISBN:
978-0-12-803766-9
Páginas:
698
125,00 € -10,0% 112,50 €

 

Sinopsis

Description
Bioinspired Legged Locomotion: Models, Concepts, Control and Applications explores the universe of legged robots, bringing in perspectives from engineering, biology, motion science, and medicine to provide a comprehensive overview of the field. With comprehensive coverage, each chapter brings outlines, and an abstract, introduction, new developments, and a summary.

Beginning with bio-inspired locomotion concepts, the book´s editors present a thorough review of current literature that is followed by a more detailed view of bouncing, swinging, and balancing, the three fundamental sub functions of locomotion. This part is closed with a presentation of conceptual models for locomotion. View more >

Key Features
Presents state-of-the-art control approaches with biological relevance
Provides a thorough understanding of the principles of organization of biological locomotion
Teaches the organization of complex systems based on low-dimensional motion concepts/control
Acts as a guideline reference for future robots/assistive devices with legged architecture
Includes a selective bibliography on the most relevant published articles
Readership
Control/mechanical engineering, robotics, biomechanics, corporate researchers in robotics and biorobotics, biomedical engineering

Table of Contents
1. Introduction

Maziar Sharbafi and Andre Seyfarth View less >

Part I : Concepts

2. Fundamental sub-functions of locomotion

Maziar Sharbafi, David Lee, Tim Kiemel and Andre Seyfarth View less >

2.1 Stance

David Lee View less >

2.2 Leg swinging

Maziar Sharbafi and Andre Seyfarth View less >

2.3 Balancing

Tim Kiemel View less >

3. Conceptual models for locomotion

View less >

Justin Seipel, Matthew Kvalheim, Shai Revzen, Maziar Sharbafi and Andre Seyfarth

3.1 Conceptual models based on empirical observations

Justin Seipel View less >

3.2 Templates and Anchors

Matthew Kvalheim and Shai Revzen View less >

3.3 A Simple Model of Running

Justin Seipel View less >

3.4 Simple Models of Walking

Justin Seipel View less >

3.5 Locomotion as an oscillator

Shai Revzen and Matthew Kvalheim View less >

3.6 ´Model zoo´ - extended conceptual models

Maziar Sharbafi and Andre Seyfarth View less >

Part II: Control

4. Control of motion and compliance

Katja Mombaur, Heike Vallery, Yue Hu, Jonas Buchli, Pranav Bhounsule, Thiago Boaventura,

Patrick M. Wensing, Shai Revzen, Aaron Ames, Ioannis Poulakakis and Auke Ijspeert, View less >

4.1 Stability and robustness

Katja Mombaur and H. Vallery View less >

4.2 Optimal control as guiding principle of locomotion

Katja Mombaur View less >

4.3 Efficiency and compliance

Katja Mombaur Yue Hu and Jonas Buchli View less >

4.4 Control based on passive dynamic walking

Pranav A. Bhounsule View less >

4.5 Impedance control for bioinspired robots

Jonas Buchli and Thiago Boaventura View less >

4.6 Template models for control

Patrick M. Wensing and Shai Revzen View less >

4.7 Hybrid Zero Dynamics Control of Legged Robots

Aaron Ames and Ioannis Poulakakis View less >

4.8 Locomotion control based on central pattern generators

Auke J. Ijspeert View less >

5. Torque control in legged locomotion

Juanjuan Zhang, Chien Chern Cheah and Steven H. Collins View less >

5.1 Introduction

Juanjuan Zhang, Chien Chern Cheah and Steven H. Collins View less >

5.2 System Overview

Juanjuan Zhang, Chien Chern Cheah and Steven H. Collins View less >

5.3 A Case Study with an Ankle Exoskeleton

Juanjuan Zhang, Chien Chern Cheah and Steven H. Collins View less >

5.4 Discussion

Juanjuan Zhang, Chien Chern Cheah and Steven H. Collins View less >

6. Neuromuscular control in locomotion

Arthur Prochazka, Hartmut Geyer, Simon Gosgnach, and Charles Capaday View less >

6.1 Introduction: Feed forward vs feedback in neural control: central pattern generators versus reflexive control

Arthur Prochazka and Hartmut Geyer View less >

6.2 Locomotor Central Pattern Generators

Simon Gosgnach and Arthur Prochazka, View less >

6.3 Corticospinal control of human walking

Charles Capaday View less >

6.4 Feedback control: interaction between centrally generated commands and sensory input

Arthur Prochazka View less >

6.5 Neuromechanical control models

Arthur Prochazka and Hartmut Geyer View less >

Part III: Implementation

7. Legged robots with bio-inspired morphology

View less >

Ioannis Poulakaki, Madhusudhan Venkadesan, Shreyas Mandre, Mahesh M. Bandi, Jonathan Clark and Koh Hosoda, Maarten Weckx, Bram Vanderborght and Maziar A. Sharbafi

7.1 Biological feet: Evolution, mechanics and applications

Madhusudhan Venkadesan, Shreyas Mandre and Mahesh M. Bandi View less >

7.2 Bio-inspired leg design

Jonathan Clark View less >

7.3 Human inspired bipeds

Koh Hosoda, Maarten Weckx, Bram Vanderborght, Ioannis Poulakakis and Maziar A. Sharbafi View less >

7.4 Bioinspired Robotic Quadrupeds

Ioannis Poulakakis View less >

8. Actuation in legged locomotion

Koh Hosoda, Christian Rode and Tobias Siebert, Bram Vanderborght, Maarten Weckx and D. Lefeber View less >

8.1 Biological principles of actuation

Christian Rode and Tobias Siebert View less >

8.2 From stiff to compliant actuation

Bram Vanderborght, Maarten Weckx and D. Lefeber View less >

8.3 Actuators in robotics as artificial muscles

Koh Hosoda View less >

9. Conclusions and outlook (How far are we from Nature?)

Maziar Sharbafi, David Lee, Thomas Sugar, Jeffrey Ward, Kevin W. Hollander, Andre Seyfarth and Koh Hosoda View less >

9.1 Robustness Versatility, Robustness and Economy

David Lee View less >

9.2 Application in daily life (Assistive systems)

Thomas Sugar, Jeffrey Ward and Kevin W. Hollander View less >

9.3 Related research projects and future directions

Maziar Sharbafi, Andre Seyfarth, Koh Hosoda and Thomas Sugar