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Bioinspired Legged Locomotion

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.
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Comprehensive and up-to-date reference on the latest research in robotic legged locomotion

Table of Contents

1. Introduction Maziar Sharbafi and Andre Seyfarth Part I : Concepts 2. Fundamental sub-functions of locomotion Maziar Sharbafi, David Lee, Tim Kiemel and Andre Seyfarth 2.1 Stance David Lee 2.2 Leg swinging Maziar Sharbafi and Andre Seyfarth 2.3 Balancing Tim Kiemel 3. Conceptual models for locomotion Justin Seipel, Matthew Kvalheim, Shai Revzen, Maziar Sharbafi and Andre Seyfarth 3.1 Conceptual models based on empirical observations Justin Seipel 3.2 Templates and Anchors Matthew Kvalheim and Shai Revzen 3.3 A Simple Model of Running Justin Seipel 3.4 Simple Models of Walking Justin Seipel 3.5 Locomotion as an oscillator Shai Revzen and Matthew Kvalheim 3.6 "Model zoo" - extended conceptual models Maziar Sharbafi and Andre Seyfarth 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, 4.1 Stability and robustness Katja Mombaur and H. Vallery 4.2 Optimal control as guiding principle of locomotion Katja Mombaur 4.3 Efficiency and compliance Katja Mombaur Yue Hu and Jonas Buchli 4.4 Control based on passive dynamic walking Pranav A. Bhounsule 4.5 Impedance control for bioinspired robots Jonas Buchli and Thiago Boaventura 4.6 Template models for control Patrick M. Wensing and Shai Revzen 4.7 Hybrid Zero Dynamics Control of Legged Robots Aaron Ames and Ioannis Poulakakis 4.8 Locomotion control based on central pattern generators Auke J. Ijspeert 5. Torque control in legged locomotion Juanjuan Zhang, Chien Chern Cheah and Steven H. Collins 5.1 Introduction Juanjuan Zhang, Chien Chern Cheah and Steven H. Collins 5.2 System Overview Juanjuan Zhang, Chien Chern Cheah and Steven H. Collins 5.3 A Case Study with an Ankle Exoskeleton Juanjuan Zhang, Chien Chern Cheah and Steven H. Collins 5.4 Discussion Juanjuan Zhang, Chien Chern Cheah and Steven H. Collins 6. Neuromuscular control in locomotion Arthur Prochazka, Hartmut Geyer, Simon Gosgnach, and Charles Capaday 6.1 Introduction: Feed forward vs feedback in neural control: central pattern generators versus reflexive control Arthur Prochazka and Hartmut Geyer 6.2 Locomotor Central Pattern Generators Simon Gosgnach and Arthur Prochazka, 6.3 Corticospinal control of human walking Charles Capaday 6.4 Feedback control: interaction between centrally generated commands and sensory input Arthur Prochazka 6.5 Neuromechanical control models Arthur Prochazka and Hartmut Geyer Part III: Implementation 7. Legged robots with bio-inspired morphology 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 7.2 Bio-inspired leg design Jonathan Clark 7.3 Human inspired bipeds Koh Hosoda, Maarten Weckx, Bram Vanderborght, Ioannis Poulakakis and Maziar A. Sharbafi 7.4 Bioinspired Robotic Quadrupeds Ioannis Poulakakis 8. Actuation in legged locomotion Koh Hosoda, Christian Rode and Tobias Siebert, Bram Vanderborght, Maarten Weckx and D. Lefeber 8.1 Biological principles of actuation Christian Rode and Tobias Siebert 8.2 From stiff to compliant actuation Bram Vanderborght, Maarten Weckx and D. Lefeber 8.3 Actuators in robotics as artificial muscles Koh Hosoda 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 9.1 Robustness Versatility, Robustness and Economy David Lee 9.2 Application in daily life (Assistive systems) Thomas Sugar, Jeffrey Ward and Kevin W. Hollander 9.3 Related research projects and future directions Maziar Sharbafi, Andre Seyfarth, Koh Hosoda and Thomas Sugar

About the Author

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 is full professor for Sports Biomechanics at the Department of Human Sciences of TU Darmstadt and head of the Lauflabor Locomotion Laboratory. After his studies in physics and his PhD in the field of biomechanics he went as a DFG "Emmy Noether" fellow to the MIT LegLab (Prof. Herr, USA) and the ParaLab at the university hospital Balgrist in Zurich (Prof. Dietz, Switzerland). His research topics include sport science, human and animal biomechanics and legged robots. Prof. Seyfarth was the organizer of the Dynamic Walking 2011 conference ("Principles and concepts of legged locomotion") and the AMAM 2013 conference ("Adaptive Motions in Animals and Machines").

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