Fast Motions in Biomechanics and Robotics

Optimization and Feedback Control

Editors:

ISBN: 978-3-540-36118-3 (Print) 978-3-540-36119-0 (Online)

Table of contents (21 chapters)

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  1. Front Matter

    Pages I-XIII

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    Book Chapter

    Pages 1-20

    Re-injecting the Structure in NMPC Schemes Application to the Constrained Stabilization of a Snakeboard

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    Book Chapter

    Pages 21-41

    Recent Advances on the Algorithmic Optimization of Robot Motion

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    Book Chapter

    Pages 43-64

    A Spring Assisted One Degree of Freedom Climbing Model

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    Book Chapter

    Pages 65-93

    Fast Direct Multiple Shooting Algorithms for Optimal Robot Control

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    Book Chapter

    Pages 95-120

    Stability Analysis of Bipedal Walking with Control or Monitoring of the Center of Pressure

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    Book Chapter

    Pages 121-145

    Multi-Locomotion Control of Biped Locomotion and Brachiation Robot

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    Book Chapter

    Pages 147-166

    On the Determination of the Basin of Attraction for Stationary and Periodic Movements

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    Book Chapter

    Pages 167-188

    Task-Level Control of the Lateral Leg Spring Model of Cockroach Locomotion

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    Book Chapter

    Pages 189-218

    Investigating the Use of Iterative Learning Control and Repetitive Control to Implement Periodic Gaits

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    Book Chapter

    Pages 219-231

    Actuation System and Control Concept for a Running Biped

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    Book Chapter

    Pages 233-252

    Dynamical Synthesis of a Walking Cyclic Gait for a Biped with Point Feet

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    Book Chapter

    Pages 253-275

    Performing Open-Loop Stable Flip-Flops — An Example for Stability Optimization and Robustness Analysis of Fast Periodic Motions

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    Book Chapter

    Pages 277-297

    Achieving Bipedal Running with RABBIT: Six Steps Toward Infinity

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    Book Chapter

    Pages 299-324

    Velocity-Based Stability Margins for Fast Bipedal Walking

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    Book Chapter

    Pages 325-344

    Nonlinear Model Predictive Control and Sum of Squares Techniques

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    Book Chapter

    Pages 345-360

    Comparison of Two Measures of Dynamic Stability During Treadmill Walking

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    Book Chapter

    Pages 361-381

    Simple Feedback Control of Cockroach Running

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    Book Chapter

    Pages 383-401

    Running and Walking with Compliant Legs

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    Book Chapter

    Pages 403-410

    Self-stability in Biological Systems — Studies based on Biomechanical Models

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    Book Chapter

    Pages 411-425

    Holonomy and Nonholonomy in the Dynamics of Articulated Motion

  22. Back Matter

    Pages 444-445

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