Moritz Diehl

Fast Motions in Biomechanics and Robotics: Optimization and Feedback Control - Lecture Notes in Control and Information Sciences Moritz Diehl 2006 edition

Marc Notes: Includes bibliographical references.; Use copy; Restrictions unspecified;star; MiAaHDL; Electronic reproduction.;[S.l.]: HathiTrust Digital Library; 2010.; MiAaHDL; Master and use copy. Digital master created according to Benchmark for Faithful Digital Reproductions of Monographs and Serials, Version 1. Digital Library Federation, December 2002.;http: //purl.oclc.org/DLF/benchrepro0212; MiAaHDL;digitized;2010; HathiTrust Digital Library;committed to preserve;pda; MiAaHDL; EBSCO complete collection. Table of Contents: 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.- 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."Publisher Marketing: Contains papers presented at the First Ruperto-Carola-Symposium Fast Motions in Biomechanics and Robotics - Optimization & Feedback Control, held in 2005. The aim of this symposium was to provide a forum for an interdisciplinary community of researchers to enhance the understanding of the control of fast motions in nature and engineering.