Fast Motions in Biomechanics and Robotics

Optimization and Feedback Control

  • Moritz Diehl
  • Katja Mombaur

Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 340)

Table of contents

  1. Front Matter
    Pages I-XIII
  2. J.E. Bobrow, F.C. Park, A. Sideris
    Pages 21-41
  3. J.E. Clark, D.E. Koditschek
    Pages 43-64
  4. M. Diehl, H.G. Bock, H. Diedam, P.-B. Wieber
    Pages 65-93
  5. T. Fukuda, M. Doi, Y. Hasegawa, H. Kajima
    Pages 121-145
  6. J. Lee, A. Lamperski, J. Schmitt, N. Cowan
    Pages 167-188
  7. T. Luksch, K. Berns, F. Flörchinger
    Pages 219-231
  8. B. Morris, E.R. Westervelt, C. Chevallereau, G. Buche, J.W. Grizzle
    Pages 277-297
  9. J.E. Pratt, R. Tedrake
    Pages 299-324
  10. T. Raff, C. Ebenbauer, R. Findeisen, F. Allgöwer
    Pages 325-344
  11. A. Seyfarth, H. Geyer, R. Blickhan, S. Lipfert, J. Rummel, Y. Minekawa et al.
    Pages 383-401
  12. M. Wisse, C.G. Atkeson, D.K. Kloimwieder
    Pages 427-443
  13. Back Matter
    Pages 444-445

About this book


In the past decades, much progress has been made in the field of walking robots. The current state of technology makes it possible to create humanoid robots that nearly walk like a human being, climb stairs, or avoid small - stacles. However, the dream of a robot running as fast and as elegantly as a human is still far from becoming reality. Control of such fast motions is still a big technological issue in robotics, and the maximum running speed of contemporary robots is still much smaller than that of human track runners. The conventional control approach that most of these robots are based on does not seem to be suitable to increase the running speeds up to a biological level.

In order to address this challenge, we invited an interdisciplinary community of researchers from robotics, biomechanics, control engineering and applied mathematics to come together in Heidelberg at the Symposium “Fast Motions in Biomechanics and Robotics – Optimization & Feedback Control” which was held at the International Science Forum (IWH) on September 7–9, 2005. The number of participants in this symposium was kept small in order to promote discussions and enable a fruitful exchange of ideas.


Fast Motions Model Predictive Control Monitoring algorithms applied mathematics biomechanics control control engineering feedback optimization robot robotics stability stabilization system

Editors and affiliations

  • Moritz Diehl
    • 1
  • Katja Mombaur
    • 1
  1. 1.Interdisciplinary Center for Scientific Computing - INF 368University of HeidelbergHeidelbergGermany

Bibliographic information