Fast Motions in Biomechanics and Robotics | Optimization and Feedback Control

Moritz Diehl (u. a.)

ISBN 10: 3540361189 / ISBN 13: 9783540361183

Editore: Springer, 2006

Fast Motions in Biomechanics and Robotics | Optimization and Feedback Control | Moritz Diehl (u. a.) | Taschenbuch | Lecture Notes in Control and Information Sciences | xiv | Englisch | 2006 | Springer | EAN 9783540361183 | Verantwortliche Person für die EU: Springer Verlag GmbH, Tiergartenstr. 17, 69121 Heidelberg, juergen[dot]hartmann[at]springer[dot]com | Anbieter: preigu. Codice articolo 102183580

Riassunto:

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.

Contenuti: 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.

Dati bibliografici

Titolo: Fast Motions in Biomechanics and Robotics | ...
Casa editrice: Springer
Data di pubblicazione: 2006
Legatura: Taschenbuch
Condizione: Neu