Modeling, Simulation and Optimization of Bipedal Walking
Modeling, Simulation and Optimization of Bipedal Walking
复制标题
双足行走的建模、仿真与优化
DOI：
--
复制
发表时间：
2013
期刊：
影响因子：
--
通讯作者：
John Farnsworth
中科院分区：
文献类型：
--
作者：
Bronwyn Boon;John Farnsworth
基于模型的拟人系统运动研究是一个涉及机器人学、生物力学、生理学、骨科、心理学、神经科学、运动学、计算机图形学和应用数学等多个领域的重要交叉学科研究课题。本书介绍了对基本运动形式的研究，如行走和跑步，由于对动态协调、执行器效率和平衡控制的高要求，特别令人感兴趣。结合实验数据，对数学模型、数值模拟和优化技术进行了说明，有助于更好地了解这些运动的基本机理，并对其进行改进。本书中讨论的示例主题是拟人两足步行系统的建模技术针对不同目标函数的优化步行运动从测量中识别目标函数仿人机器人的模拟和优化方法两足步行的生物启发控制算法在计算机图形学中自然行走的生成和变形模拟人类运动对仿人的模拟行走过程中的运动肢体语言两足步行机械的仿生执行器的建模和仿真技术用于假肢开发的建模和仿真技术步行的功能性电刺激。
The model-based investigation of motions of anthropomorphic systems is an important interdisciplinary research topic involving specialists from many fields such as Robotics, Biomechanics, Physiology, Orthopedics, Psychology, Neurosciences, Sports, Computer Graphics and Applied Mathematics. This book presents a study of basic locomotion forms such as walking and running is of particular interest due to the high demand on dynamic coordination, actuator efficiency and balance control. Mathematical models and numerical simulation and optimization techniques are explained, in combination with experimental data, which can help to better understand the basic underlying mechanisms of these motions and to improve them. Example topics treated in this book are Modeling techniques for anthropomorphic bipedal walking systemsOptimized walking motions for different objective functionsIdentification of objective functions from measurementsSimulation and optimization approaches for humanoid robotsBiologically inspired control algorithms for bipedal walkingGeneration and deformation of natural walking in computer graphicsImitation of human motions on humanoidsEmotional body language during walking Simulation of biologically inspired actuators for bipedal walking machinesModeling and simulation techniques for the development of prosthesesFunctional electrical stimulation of walking.