Laufbewegungen bei Roboter, Tier und Mensch: Analyse, Modellierung, Simulation und Optimierung

Abstract

The roots of the scientific research interest in understanding the complicated dy- namic walking processes of robots, animals and humans are in biology, medicine and engineering sciences. Biological and medical research is interested in im- proved diagnosis and healing of walking problems and in the development of an intelligent, active leg prosthesis. In engineering sciences research is performed in design and operation of walking machines for locomotion in rough terrain as well as in the integration of internal and external sensors and actuators in the goal ori- ented planning and control of legged locomotion for autonomous robots. Model- ling and simulation of the dynamics of legged locomotion is of central importance for all of these fundamental research themes