Bioinspired Legged Locomotion
Models, Concepts, Control and Applications
- 1st Edition - November 21, 2017
- Latest edition
- Editors: Maziar Ahmad Sharbafi, André Seyfarth
- Language: English
Bioinspired Legged Locomotion: Models, Concepts, Control and Applications explores the universe of legged robots, bringing in perspectives from engineering, biology, motion sc… Read more
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Description
Description
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.
Key features
Key features
- 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
Readership
Readership
Control/mechanical engineering, robotics, biomechanics, corporate researchers in robotics and biorobotics, biomedical engineering
Table of contents
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 Seipe
l, Matthew Kvalheim, Shai Revzen, Maziar Sharbafi and Andre Seyfarth3.1 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 Clark
and Koh Hosoda, Maarten Weckx, Bram Vanderborght and Maziar A. Sharbafi7.1 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
Product details
Product details
- Edition: 1
- Latest edition
- Published: November 22, 2017
- Language: English
About the editors
About the editors
MS
Maziar Ahmad Sharbafi
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.
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