Modeling, Simulation and Optimization of Bipedal Walking

  • Katja Mombaur
  • Karsten Berns

Part of the Cognitive Systems Monographs book series (COSMOS, volume 18)

Table of contents

  1. Front Matter
    Pages 1-7
  2. Christopher G. Atkeson, Chenggang Liu
    Pages 1-15
  3. Pierre Cherelle, Victor Grosu, Michael Van Damme, Bram Vanderborght, Dirk Lefeber
    Pages 17-30
  4. Martin Felis, Katja Mombaur
    Pages 31-42
  5. Ioannis Havoutis, Subramanian Ramamoorthy
    Pages 43-51
  6. Sigrid Leyendecker, David Pekarek, Jerrold E. Marsden
    Pages 99-116
  7. Zhibin Li, Bram Vanderborght, Nikos G. Tsagarakis, Darwin G. Caldwell
    Pages 117-130
  8. Tobias Luksch, Karsten Berns
    Pages 131-143
  9. Katja Mombaur, Anne-Hélène Olivier, Armel Crétual
    Pages 165-179
  10. Jia Pan, Liangjun Zhang, Dinesh Manocha
    Pages 181-186
  11. Julien Pettré
    Pages 187-198
  12. Joseph Salini, Sébastien Barthélemy, Philippe Bidaud, Vincent Padois
    Pages 199-210
  13. Andre Seyfarth, Susanne Lipfert, Jürgen Rummel, Moritz Maus, Daniel Maykranz
    Pages 211-222
  14. Wael Suleiman, Eiichi Yoshida, Fumio Kanehiro, Jean-Paul Laumond, André Monin
    Pages 233-247
  15. Heiko Wagner, Arne Wulf, Sook-Yee Chong, Thomas Wulf
    Pages 249-259
  16. Back Matter
    Pages 289-290

About this book


The model-based investigation of motions of anthropomorphic systems is an important interdisciplinary research topic involving specialists from many fields such as Robotics, Biomechanics, Physiology, Orthopedics, Psychology, Neurosciences, Sports, Computer Graphics and Applied Mathematics. This book presents a study of basic locomotion forms such as walking and running is of particular interest due to the high demand on dynamic coordination, actuator efficiency and balance control. Mathematical models and numerical simulation and optimization techniques are explained, in combination with experimental data, which can help to better understand the basic underlying mechanisms of these motions and to improve them. Example topics treated in this book are

  • Modeling techniques for anthropomorphic bipedal walking systems
  • Optimized walking motions for different objective functions
  • Identification of objective functions from measurements
  • Simulation and optimization approaches for humanoid robots
  • Biologically inspired control algorithms for bipedal walking
  • Generation and deformation of natural walking in computer graphics
  • Imitation of human motions on humanoids
  • Emotional body language during walking
  • Simulation of biologically inspired actuators for bipedal walking machines
  • Modeling and simulation techniques for the development of prostheses
  • Functional electrical stimulation of walking.


Anthropomorphic Bipedal Walking Systems Biped Walking Humanoid Robots Humanoids Optimized Walking Motions

Editors and affiliations

  • Katja Mombaur
    • 1
  • Karsten Berns
    • 2
  1. 1.Interdisziplinäres ZentrumUniversität HeidelbergHeidelbergGermany
  2. 2.FB Informatik, AG RobotersystemeTU KaiserslauternKaiserslauternGermany

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag Berlin Heidelberg 2013
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-642-36367-2
  • Online ISBN 978-3-642-36368-9
  • Series Print ISSN 1867-4925
  • Series Online ISSN 1867-4933
  • Buy this book on publisher's site
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