Fast motions in biomechanics and robotics: optimization and feedback control
Re-injecting the Structure in NMPC Schemes Application to the Constrained Stabilization of a Snakeboard -- Recent Advances on the Algorithmic Optimization of Robot Motion -- A Spring Assisted One Degree of Freedom Climbing Model -- Fast Direct Multiple Shooting Algorithms for Optimal Robot Control -...
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| Other Authors: | , |
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| Format: | Book/Monograph |
| Language: | English |
| Published: |
Berlin, Heidelberg
Springer Berlin Heidelberg
2006
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| Series: | SpringerLink Bücher
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| DOI: | 10.1007/978-3-540-36119-0 |
| Subjects: | |
| Online Access: | Verlag, lizenzpflichtig, Volltext: https://doi.org/10.1007/978-3-540-36119-0 Resolving-System, lizenzpflichtig, Volltext: http://dx.doi.org/10.1007/978-3-540-36119-0 Cover: https://swbplus.bsz-bw.de/bsz276369238cov.jpg Verlag, Zentralblatt MATH, Inhaltstext: https://zbmath.org/?q=an:1100.70002 
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| Author Notes: | edited by Moritz Diehl, Katja Mombaur |
Table of Contents:
- ""Preface""; ""Contents""; ""List of Contributors""; ""Re-injecting the Structure in NMPC Schemes""; ""Recent Advances on the Algorithmic Optimization of Robot Motion""; ""A Spring Assisted One Degree of Freedom Climbing Model""; ""Fast Direct Multiple Shooting Algorithms for Optimal Robot Control""; ""Stability Analysis of Bipedal Walking with Control or Monitoring of the Center of Pressure""; ""Multi-Locomotion Control of Biped Locomotion and Brachiation Robot""; ""On the Determination of the Basin of Attraction for Stationary and Periodic Movements""
- ""Task-Level Control of the Lateral Leg Spring Model of Cockroach Locomotion""""Investigating the Use of Iterative Learning Control and Repetitive Control to Implement Periodic Gaits""; ""Actuation System and Control Concept for a Running Biped""; ""Dynamical Synthesis of a Walking Cyclic Gait for a Biped with Point Feet""; ""Performing Open-Loop Stable Flip-Flops � An Example for Stability Optimization and Robustness Analysis of Fast Periodic Motions""; ""Achieving Bipedal Running with RABBIT: Six Steps Toward Infinity""; ""Velocity-Based Stability Margins for Fast Bipedal Walking""
- ""Nonlinear Model Predictive Control and Sum of Squares Techniques""""Comparison of Two Measures of Dynamic Stability During Treadmill Walking""; ""Simple Feedback Control of Cockroach Running""; ""Running and Walking with Compliant Legs""; ""Self-stability in Biological Systems � Studies based on Biomechanical Models""; ""Holonomy and Nonholonomy in the Dynamics of Articulated Motion""; ""Dynamic Stability of a Simple Biped Walking System with Swing Leg Retraction""; ""Lecture Notes in Control and Information Sciences""