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Modeling, Simulation and Optimization of Bipedal Walking pdf

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  The model-based investigation of motions of anthropomorphic systems is an important
interdisciplinary research topic involving specialists from many fields such as Robotics, Biomechanics, Physiology,
Orthopedics, Psychology, Neurosciences, Sports, Computer Graphics and Applied Mathematics. This book presents a study of
basic locomotion forms such as walking and running is of particular interest due to the high demand on dynamic
coordination, actuator efficiency and balance control. Mathematical models and numerical simulation and optimization
techniques are explained, in combination with experimental data, which can help to better understand the basic
underlying mechanisms of these motions and to improve them. 						

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