Bioinspired Legged Locomotion: Models, Concepts, Control And Applications by Maziar Ahmad SharbafiBioinspired Legged Locomotion: Models, Concepts, Control And Applications by Maziar Ahmad Sharbafi

Bioinspired Legged Locomotion: Models, Concepts, Control And Applications

byMaziar Ahmad SharbafiEditorAndr Seyfarth

Paperback | November 22, 2017

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Bioinspired Legged Locomotion: Models, Concepts, Control and Applicationsexplores the universe of legged robots, bringing in perspectives from engineering, biology, motion science, and medicine to provide a comprehensive overview of the field. With comprehensive coverage, each chapter brings outlines, and an abstract, introduction, new developments, and a summary.

Beginning with bio-inspired locomotion concepts, the book's editors present a thorough review of current literature that is followed by a more detailed view of bouncing, swinging, and balancing, the three fundamental sub functions of locomotion. This part is closed with a presentation of conceptual models for locomotion.

Next, the book explores bio-inspired body design, discussing the concepts of motion control, stability, efficiency, and robustness. The morphology of legged robots follows this discussion, including biped and quadruped designs.

Finally, a section on high-level control and applications discusses neuromuscular models, closing the book with examples of applications and discussions of performance, efficiency, and robustness. At the end, the editors share their perspective on the future directions of each area, presenting state-of-the-art knowledge on the subject using a structured and consistent approach that will help researchers in both academia and industry formulate a better understanding of bioinspired legged robotic locomotion and quickly apply the concepts in research or products.



  • Presents state-of-the-art control approaches with biological relevance
  • Provides a thorough understanding of the principles of organization of biological locomotion
  • Teaches the organization of complex systems based on low-dimensional motion concepts/control
  • Acts as a guideline reference for future robots/assistive devices with legged architecture
  • Includes a selective bibliography on the most relevant published articles
Maziar Sharbafi is an assistant professor in electrical and computer engineering department of University of Tehran. He is also a guest researcher at the Locomotion Laboratory, TU Darmstadt. He studied control engineering at Sharif University of Technology and University of Tehran (UT) for his bachelor and master, respectively. He star...
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Title:Bioinspired Legged Locomotion: Models, Concepts, Control And ApplicationsFormat:PaperbackDimensions:698 pages, 8.75 × 6.35 × 0.68 inPublished:November 22, 2017Publisher:Butterworth (trade)Language:English

The following ISBNs are associated with this title:

ISBN - 10:0128037660

ISBN - 13:9780128037669

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Table of Contents

1. Introduction

Maziar Sharbafi and Andre Seyfarth

Part I : Concepts

2. Fundamental sub-functions of locomotion

Maziar Sharbafi, David Lee, Tim Kiemel and Andre Seyfarth

2.1 Stance

David Lee

2.2 Leg swinging

Maziar Sharbafi and Andre Seyfarth

2.3 Balancing

Tim Kiemel

3. Conceptual models for locomotion

Justin Seipel, Matthew Kvalheim, Shai Revzen, Maziar Sharbafi and Andre Seyfarth

3.1 Conceptual models based on empirical observations

Justin Seipel

3.2 Templates and Anchors

Matthew Kvalheim and Shai Revzen

3.3 A Simple Model of Running

Justin Seipel

3.4 Simple Models of Walking

Justin Seipel

3.5 Locomotion as an oscillator

Shai Revzen and Matthew Kvalheim

3.6 "Model zoo" - extended conceptual models

Maziar Sharbafi and Andre Seyfarth

Part II: Control

4. Control of motion and compliance

Katja Mombaur, Heike Vallery, Yue Hu, Jonas Buchli, Pranav Bhounsule, Thiago Boaventura,

Patrick M. Wensing, Shai Revzen, Aaron Ames, Ioannis Poulakakis and Auke Ijspeert,

4.1 Stability and robustness

Katja Mombaur and H. Vallery

4.2 Optimal control as guiding principle of locomotion

Katja Mombaur

4.3 Efficiency and compliance

Katja Mombaur Yue Hu and Jonas Buchli

4.4 Control based on passive dynamic walking

Pranav A. Bhounsule

4.5 Impedance control for bioinspired robots

Jonas Buchli and Thiago Boaventura

4.6 Template models for control

Patrick M. Wensing and Shai Revzen

4.7 Hybrid Zero Dynamics Control of Legged Robots

Aaron Ames and Ioannis Poulakakis

4.8 Locomotion control based on central pattern generators

Auke J. Ijspeert

5. Torque control in legged locomotion

Juanjuan Zhang, Chien Chern Cheah and Steven H. Collins

5.1 Introduction

Juanjuan Zhang, Chien Chern Cheah and Steven H. Collins

5.2 System Overview

Juanjuan Zhang, Chien Chern Cheah and Steven H. Collins

5.3 A Case Study with an Ankle Exoskeleton

Juanjuan Zhang, Chien Chern Cheah and Steven H. Collins

5.4 Discussion

Juanjuan Zhang, Chien Chern Cheah and Steven H. Collins

6. Neuromuscular control in locomotion

Arthur Prochazka, Hartmut Geyer, Simon Gosgnach, and Charles Capaday

6.1 Introduction: Feed forward vs feedback in neural control: central pattern generators versus reflexive control

Arthur Prochazka and Hartmut Geyer

6.2 Locomotor Central Pattern Generators

Simon Gosgnach and Arthur Prochazka,

6.3 Corticospinal control of human walking

Charles Capaday

6.4 Feedback control: interaction between centrally generated commands and sensory input

Arthur Prochazka

6.5 Neuromechanical control models

Arthur Prochazka and Hartmut Geyer

Part III: Implementation

7. Legged robots with bio-inspired morphology

Ioannis Poulakaki, Madhusudhan Venkadesan, Shreyas Mandre, Mahesh M. Bandi, Jonathan Clarkand Koh Hosoda,Maarten Weckx, Bram Vanderborght and Maziar A. Sharbafi

7.1 Biological feet: Evolution, mechanics and applications

Madhusudhan Venkadesan, Shreyas Mandre and Mahesh M. Bandi

7.2 Bio-inspired leg design

Jonathan Clark

7.3 Human inspired bipeds

Koh Hosoda, Maarten Weckx, Bram Vanderborght, Ioannis Poulakakis and Maziar A. Sharbafi

7.4 Bioinspired Robotic Quadrupeds

Ioannis Poulakakis

8. Actuation in legged locomotion

Koh Hosoda, Christian Rode and Tobias Siebert, Bram Vanderborght, Maarten Weckx and D. Lefeber

8.1 Biological principles of actuation

Christian Rode and Tobias Siebert

8.2 From stiff to compliant actuation

Bram Vanderborght, Maarten Weckx and D. Lefeber

8.3 Actuators in robotics as artificial muscles

Koh Hosoda

9. Conclusions and outlook (How far are we from Nature?)

Maziar Sharbafi, David Lee, Thomas Sugar, Jeffrey Ward, Kevin W. Hollander, Andre Seyfarth and Koh Hosoda

9.1 Robustness Versatility, Robustness and Economy

David Lee

9.2 Application in daily life (Assistive systems)

Thomas Sugar, Jeffrey Ward and Kevin W. Hollander

9.3 Related research projects and future directions

Maziar Sharbafi, Andre Seyfarth, Koh Hosoda and Thomas Sugar