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Bioinspired Legged Locomotion

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

Table of Contents

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?)

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 Andre Seyfarth 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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