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Bioinspired Legged Locomotion
Models, Concepts, Control and Applications
- 1st Edition - November 21, 2017
- Editors: Maziar Ahmad Sharbafi, André Seyfarth
- Language: English
- Paperback ISBN:9 7 8 - 0 - 1 2 - 8 0 3 7 6 6 - 9
- eBook ISBN:9 7 8 - 0 - 1 2 - 8 0 3 7 7 4 - 4
Bioinspired Legged Locomotion: Models, Concepts, Control and Applications explores the universe of legged robots, bringing in perspectives from engineering, biology, motion sc… Read more
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Request a sales quoteBioinspired 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.
- 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
Control/mechanical engineering, robotics, biomechanics, corporate researchers in robotics and biorobotics, biomedical engineering
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 Seipe
l, Matthew Kvalheim, Shai Revzen, Maziar Sharbafi and Andre Seyfarth3.1 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. Sharbafi7.1 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
- No. of pages: 698
- Language: English
- Edition: 1
- Published: November 21, 2017
- Imprint: Butterworth-Heinemann
- Paperback ISBN: 9780128037669
- eBook ISBN: 9780128037744
MS
Maziar Ahmad Sharbafi
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
Affiliations and expertise
Assistant professor of control engineering, electrical and computer engineering department , School of Engineering, University of TehranAS
André Seyfarth
André 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”).
Affiliations and expertise
Professor of Sports Biomechanics, Department of Human Sciences, and Head of the Lauflabor Locomotion Laboratory, TU DarmstadtRead Bioinspired Legged Locomotion on ScienceDirect