Biomechanics of Anthropomorphic Systems

  • Gentiane Venture
  • Jean-Paul Laumond
  • Bruno Watier

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 124)

Table of contents

  1. Front Matter
    Pages i-viii
  2. Jean-Paul Laumond, Gentiane Venture, Bruno Watier
    Pages 1-6
  3. Ali Marjaninejad, Francisco J. Valero-Cuevas
    Pages 7-34
  4. Galo Maldonado, Philippe Souères, Bruno Watier
    Pages 35-63
  5. Raphael Dumas, Laurence Cheze, Florent Moissenet
    Pages 65-89
  6. G. Venture, V. Bonnet, D. Kulic
    Pages 91-104
  7. Bastien Berret, Ioannis Delis, Jérémie Gaveau, Frédéric Jean
    Pages 105-133
  8. Tamar Flash, Matan Karklinsky, Ronit Fuchs, Alain Berthoz, Daniel Bennequin, Yaron Meirovitch
    Pages 155-184
  9. Ildar Farkhatdinov, Hannah Michalska, Alain Berthoz, Vincent Hayward
    Pages 185-209
  10. Luca Fiorio, Francesco Romano, Alberto Parmiggiani, Bastien Berret, Giorgio Metta, Francesco Nori
    Pages 235-262
  11. O. Stasse, T. Flayols
    Pages 281-310

About this book


Mechanical laws of motion were applied very early for better understanding anthropomorphic action as suggested in advance by Newton «For from hence are easily deduced the forces of machines, which are compounded of wheels, pullies, levers, cords, and weights, ascending directly or obliquely, and other mechanical powers; as also the force of the tendons to move the bones of animals». In the 19th century E.J. Marey and E. Muybridge introduced chronophotography to scientifically investigate animal and human movements. They opened the field of motion analysis by being the first scientists to correlate ground reaction forces with kinetics.

Despite of the apparent simplicity of a given skilled movement, the organization of the underlying neuro-musculo-skeletal system remains unknown. A reason is the redundancy of the motor system: a given action can be realized by different muscle and joint activity patterns, and the same underlying activity may give rise to several movements. After the pioneering work of N. Bernstein in the 60’s on the existence of motor synergies, numerous researchers «walking on the border» of their disciplines tend to discover laws and principles underlying the human motions and how the brain reduces the redundancy of the system. These synergies represent the fundamental building blocks composing complex movements.

In robotics, researchers face the same redundancy and complexity challenges as the researchers in life sciences. This book gathers works of roboticists and researchers in biomechanics in order to promote an interdisciplinary research on anthropomorphic systems at large and on humanoid robotics in particular.


Robotics Biomechanics Movement Science Antropomorphic Systems Humanoids Robotics

Editors and affiliations

  • Gentiane Venture
    • 1
  • Jean-Paul Laumond
    • 2
  • Bruno Watier
    • 3
  1. 1.TokyoJapan
  2. 2.LAAS-CNRS ToulouseFrance
  3. 3.ToulouseFrance

Bibliographic information

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