Bioinspired Legged Locomotion

Models, Concepts, Control and Applications
Erscheinungsjahr 2017
ISBN: 978-0-12-803766-9
Verlag: Elsevier Science

Buch, Englisch, 638 Seiten, Format (B × H): 149 mm x 226 mm, Gewicht: 1081 g

Bioinspired Legged Locomotion: Models, Concepts, Control and Applications explores 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.

Zielgruppe

<p>Scholars in motion science, (control/mechanical) engineering, robotics, medicine, biology, Companies in robotics and biorobotics, biomedical engineering</p>

Autoren/Hrsg.

Sharbafi, Maziar Ahmad

Fachgebiete

• Technische Wissenschaften Maschinenbau | Werkstoffkunde Maschinenbau
• Medizin | Veterinärmedizin Medizin | Public Health | Pharmazie | Zahnmedizin Medizin, Gesundheitswesen Medizintechnik, Biomedizintechnik, Medizinische Werkstoffe
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik
• Technische Wissenschaften Technik Allgemein Bionik, Biomimetik
• Technische Wissenschaften Sonstige Technologien | Angewandte Technik Medizintechnik, Biomedizintechnik

Inhaltsverzeichnis

1. Introduction

Part I: Concepts 2. Fundamental sub-functions of locomotion 3. Conceptual models for locomotion

Part II: Control 4. Control of motion and compliance 5. Torque control in legged locomotion 6. Neuromuscular control in locomotion

Part III: Implementation 7. Legged robots with bio-inspired morphology 8. Actuation in legged locomotion 9. Conclusions and outlook (How far are we from Nature?)

Über Autor(innen)

Sharbafi, Maziar Ahmad
Dr. Maziar A. Sharbafi is an interdisciplinary researcher specializing in bioinspired locomotion, biomechanics, and human-centered robotics. He is currently the Head of the Locomotion Control Assistance Group at the Institute for Control and Cyber-Physical Systems (CCPS) within the Department of Electrical Engineering and Information Technology at TU Darmstadt, where he is also affiliated with the Lauflabor Locomotion Laboratory.

Dr. Sharbafi earned his B.Sc. degree from Sharif University of Technology in 2003 and completed both his M.Sc. (2006) and Ph.D. (2013) in Control Engineering at the University of Tehran. Driven by a strong interest in human movement and biomechanics, he later obtained a second Ph.D. in Biomechanics from TU Darmstadt in 2017.

Before joining TU Darmstadt, he served as an Assistant Professor in the Department of Electrical and Computer Engineering at the University of Tehran and was a Guest Researcher at TU Darmstadt. Between 2022 and 2024, he acted as the Scientific Coordinator of the European doctoral network LokoAssist. He is currently a Principal Investigator in several nationally and internationally funded research projects, including EPA-2, LokoAssist, and BYouTrain, and leads a work package within the WhiteBox project.

A Senior IEEE Member with more than 90 peer-reviewed publications, Dr. Sharbafi’s research focuses on bioinspired control, postural stability, and nonlinear dynamics applied to legged robots, prostheses, and exoskeletons, advancing assistive technologies that enhance human mobility and independence.