Simulation und optimale Steuerung der Dynamik von Mehrkörpersystemen in der Biomechanik und Robotik

在研究人体在正常健康状态和疾病状态下的运动时，仿真是非常重要的，例如，为了优化田径运动以及设计和改进矫形和假肢设备。另一方面，规划机器人的操作需要了解能以最佳方式引导系统的驱动力。近似解的保真度取决于数值解方法正确表达系统特性的能力。如果执行运动所需的能量是感兴趣的标准，那么使用能量一致的方法是至关重要的。虽然机械积分器的优点在纯正向动力学仿真中得到了广泛的认可，但在运动规划和最优控制问题中，机械积分器基本上是无人关注的。这个项目的目的一方面是开发和研究新的高效和健壮的运动动态优化方法，以保证通过近似解继承真实解的相关性质。另一方面，这些相当灵活的方法应该应用于跨学科领域，从机器人学到运动学的高性能运动。

Simulation is of great importance when studying the motion of humans in a normal state of health and with disorders e.g. in order to optimise movements in athletics as well as to design and improve orthotic and prosthetic devices. On the other hand, the planning of manoeuvres of robots requires the knowledge of the actuating forces that optimally guide the system. The fidelity of approximate solutions relies on the capability of the numerical solution method to represent the systems characteristic properties correctly. If the energy required to perform a motion is a criterion of interest, it is crucial to use an energy consistent method. While the benefits of mechanical integrators are widely accepted in purely forward dynamical simulations, they remain mostly unattended in motion planning and optimal control problems. The aim of this project is on the one hand to develop and investigate new efficient and robust methods for the dynamic optimisation of movements that guarantee the inheritance of the real solutions relevant properties by the approximate solution. On the other hand, these rather flexible methods should be applied to a interdisciplinary field ranging from robotics over everyday human motion to athletics high performance motions.