Bioinspired Legged Locomotion

Models, Concepts, Control and Applications
Erscheinungsjahr 2017
ISBN: 978-0-12-803766-9
Verlag: Elsevier Science

Buch, Englisch, 638 Seiten, Format (B × H): 149 mm x 226 mm, Gewicht: 1081 g

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.

Next, the book explores bio-inspired body design, discussing the concepts of motion control, stability, efficiency, and robustness. The morphology of legged robots follows this discussion, including biped and quadruped designs.

Finally, a section on high-level control and applications discusses neuromuscular models, closing the book with examples of applications and discussions of performance, efficiency, and robustness. At the end, the editors share their perspective on the future directions of each area, presenting state-of-the-art knowledge on the subject using a structured and consistent approach that will help researchers in both academia and industry formulate a better understanding of bioinspired legged robotic locomotion and quickly apply the concepts in research or products.

Zielgruppe

<p>Scholars in motion science, (control/mechanical) engineering, robotics, medicine, biology, Companies in robotics and biorobotics, biomedical engineering</p>

Autoren/Hrsg.

Sharbafi, Maziar Ahmad

Seyfarth, André

Fachgebiete

• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik
• Medizin | Veterinärmedizin Medizin | Public Health | Pharmazie | Zahnmedizin Medizin, Gesundheitswesen Medizintechnik, Biomedizintechnik, Medizinische Werkstoffe
• Technische Wissenschaften Maschinenbau | Werkstoffkunde Maschinenbau
• Technische Wissenschaften Sonstige Technologien | Angewandte Technik Medizintechnik, Biomedizintechnik
• Technische Wissenschaften Technik Allgemein Bionik, Biomimetik

Inhaltsverzeichnis

1. Introduction

Part I: Concepts 2. Fundamental sub-functions of locomotion 3. Conceptual models for locomotion

Part II: Control 4. Control of motion and compliance 5. Torque control in legged locomotion 6. Neuromuscular control in locomotion

Part III: Implementation 7. Legged robots with bio-inspired morphology 8. Actuation in legged locomotion 9. Conclusions and outlook (How far are we from Nature?)

Über Autor(innen)

Sharbafi, Maziar Ahmad
Maziar Sharbafi is an assistant professor in electrical and computer engineering department of University of Tehran. He is also a guest researcher at the Locomotion Laboratory, TU Darmstadt. He studied control engineering at Sharif University of Technology and University of Tehran (UT) for his bachelor and master, respectively. He started working on bipedal robot control in his PhD at University of Tehran, from 2007 and more on bio-inspired control approaches, since he entered lauflabor in 2011. His current research interests include bio-inspired locomotion control based on conceptual and analytic approaches, postural stability and the application of dynamical systems and nonlinear control in hybrid systems like locomotion