Bioinspired Legged Locomotion

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.

• 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

Control/mechanical engineering, robotics, biomechanics, corporate researchers in robotics and biorobotics, biomedical engineering

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 Clark and 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