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Walking, Running and Kicking of Humanoid Robots and Humans

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From Nano to Space

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Abstract

In this paper key aspects and several methods for modeling, simulation, optimization and control of the locomotion of humanoid robots and humans are discussed. Similarities and differences between walking and running of humanoid robots and humans are outlined. They represent several, different steps towards the ultimate goals of understanding and predicting human motion by validated simulation models and of developing humanoid robots with human like performance in walking and running. Numerical and experimental results are presented for model-based optimal control as well as for hardware-in-the-loop optimization of humanoid robot walking and for forward dynamics simulation and optimization of a human kicking motion.

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Author information

Authors and Affiliations

  1. Simulation, Systems Optimization and Robotics Group, Department of Computer Science, Technische Universität Darmstadt, Hochschulstr.10, D-64289, Darmstadt

    M. Stelzer & O. von Stryk

Authors
  1. M. Stelzer
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  2. O. von Stryk
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Editor information

Editors and Affiliations

  1. Institut für Wirtschaftsinformatik, Leibniz Universität Hannover, Königsworther Platz 1, 30167, Hannover, Germany

    Michael H. Breitner

  2. Products, Qimonda AG, 81726, München, Germany

    Georg Denk

  3. M2 — Zentrum Mathematik, Technische Universität München, Boltzmannstraße 3, 85748, Garching, Germany

    Peter Rentrop

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Stelzer, M., von Stryk, O. (2008). Walking, Running and Kicking of Humanoid Robots and Humans. In: Breitner, M.H., Denk, G., Rentrop, P. (eds) From Nano to Space. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74238-8_14

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