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Walking, running and kicking of humanoid robots and humans

Stelzer, M. and Stryk, Oskar von (2008):
Walking, running and kicking of humanoid robots and humans.
In: From Nano to Space - Applied Mathematics Inspired by Roland Bulirsch, Springer Verlag, pp. 175-192, [Book Section]

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. The presented methods are 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.

Item Type: Book Section
Erschienen: 2008
Creators: Stelzer, M. and Stryk, Oskar von
Title: Walking, running and kicking of humanoid robots and humans
Language: English
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. The presented methods are 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.

Title of Book: From Nano to Space - Applied Mathematics Inspired by Roland Bulirsch
Publisher: Springer Verlag
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Jun 2016 23:26
Identification Number: 2008:StelzervonStryk
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