Walking, Running and Kicking of Humanoid Robots and Humans

M. Stelzer () and O. von Stryk ()
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M. Stelzer: Technische Universität Darmstadt, Simulation, Systems Optimization and Robotics Group, Department of Computer Science
O. von Stryk: Technische Universität Darmstadt, Simulation, Systems Optimization and Robotics Group, Department of Computer Science

A chapter in From Nano to Space, 2008, pp 175-192 from Springer

Abstract: 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.

Keywords: Optimal Control Problem; Joint Angle; Humanoid Robot; Bipedal Robot; Bipedal Walking (search for similar items in EconPapers)
Date: 2008
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Persistent link: https://EconPapers.repec.org/RePEc:spr:sprchp:978-3-540-74238-8_14

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DOI: 10.1007/978-3-540-74238-8_14

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