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Author: Abhijit Mahapatra
Publisher: Springer Nature
ISBN: 9811529531
Category : Computers
Languages : en
Pages : 230
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Book Description
This book describes the development of an integrated approach for generating the path and gait of realistic hexapod robotic systems. It discusses in detail locomation with straight-ahead, crab and turning motion capabilities in varying terrains, like sloping surfaces, staircases, and various user-defined rough terrains. It also presents computer simulations and validation using Virtual Prototyping (VP) tools and real-world experiments. The book also explores improving solutions by applying the developed nonlinear, constrained inverse dynamics model of the system formulated as a coupled dynamical problem based on the Newton–Euler (NE) approach and taking into account realistic environmental conditions. The approach is developed on the basis of rigid multi-body modelling and the concept that there is no change in the configuration of the system in the short time span of collisions.
Author: Abhijit Mahapatra
Publisher: Springer Nature
ISBN: 9811529531
Category : Computers
Languages : en
Pages : 230
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Book Description
This book describes the development of an integrated approach for generating the path and gait of realistic hexapod robotic systems. It discusses in detail locomation with straight-ahead, crab and turning motion capabilities in varying terrains, like sloping surfaces, staircases, and various user-defined rough terrains. It also presents computer simulations and validation using Virtual Prototyping (VP) tools and real-world experiments. The book also explores improving solutions by applying the developed nonlinear, constrained inverse dynamics model of the system formulated as a coupled dynamical problem based on the Newton–Euler (NE) approach and taking into account realistic environmental conditions. The approach is developed on the basis of rigid multi-body modelling and the concept that there is no change in the configuration of the system in the short time span of collisions.
Author: Karim Abdel-Malek
Publisher: Academic Press
ISBN: 0124046010
Category : Computers
Languages : en
Pages : 296
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Book Description
Simulate realistic human motion in a virtual world with an optimization-based approach to motion prediction. With this approach, motion is governed by human performance measures, such as speed and energy, which act as objective functions to be optimized. Constraints on joint torques and angles are imposed quite easily. Predicting motion in this way allows one to use avatars to study how and why humans move the way they do, given specific scenarios. It also enables avatars to react to infinitely many scenarios with substantial autonomy. With this approach it is possible to predict dynamic motion without having to integrate equations of motion -- rather than solving equations of motion, this approach solves for a continuous time-dependent curve characterizing joint variables (also called joint profiles) for every degree of freedom. - Introduces rigorous mathematical methods for digital human modelling and simulation - Focuses on understanding and representing spatial relationships (3D) of biomechanics - Develops an innovative optimization-based approach to predicting human movement - Extensively illustrated with 3D images of simulated human motion (full color in the ebook version)
Author: Hans Georg Bock
Publisher: Springer
ISBN: 3319090631
Category : Computers
Languages : en
Pages : 265
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Book Description
This proceedings volume gathers a selection of papers presented at the Fifth International Conference on High Performance Scientific Computing, which took place in Hanoi on March 5-9, 2012. The conference was organized by the Institute of Mathematics of the Vietnam Academy of Science and Technology (VAST), the Interdisciplinary Center for Scientific Computing (IWR) of Heidelberg University, Ho Chi Minh City University of Technology, and the Vietnam Institute for Advanced Study in Mathematics. The contributions cover the broad interdisciplinary spectrum of scientific computing and present recent advances in theory, development of methods, and practical applications. Subjects covered include mathematical modeling; numerical simulation; methods for optimization and control; parallel computing; software development; and applications of scientific computing in physics, mechanics and biomechanics, material science, hydrology, chemistry, biology, biotechnology, medicine, sports, psychology, transport, logistics, communication networks, scheduling, industry, business and finance.
Author: Bernardo Innocenti
Publisher: Academic Press
ISBN: 0128244828
Category : Technology & Engineering
Languages : en
Pages : 759
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Book Description
Human Orthopaedic Biomechanics: Fundamentals, Devices and Applications covers a wide range of biomechanical topics and fields, ranging from theoretical issues, mechanobiology, design of implants, joint biomechanics, regulatory issues and practical applications. The book teaches the fundamentals of physiological loading and constraint conditions at various parts of the musculoskeletal system. It is an ideal resource for teaching and education in courses on orthopedic biomechanics, and for engineering students engaged in these courses. In addition, all bioengineers who have an interest in orthopedic biomechanics will find this title useful as a reference, particularly early career researchers and industry professionals. Finally, any orthopedic surgeons looking to deepen their knowledge of biomechanical aspects will benefit from the accessible writing style in this title. - Covers theoretical aspects (mechanics, stress analysis, constitutive laws for the various musculoskeletal tissues and mechanobiology) - Presents components of different regulatory aspects, failure analysis, post-marketing and clinical trials - Includes state-of-the-art methods used in orthopedic biomechanics and in designing orthopedic implants (experimental methods, finite element and rigid-body models, gait and fluoroscopic analysis, radiological measurements)
Author: Katja Mombaur
Publisher: Springer Science & Business Media
ISBN: 3642363687
Category : Technology & Engineering
Languages : en
Pages : 289
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Book Description
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. Example topics treated in this book are Modeling techniques for anthropomorphic bipedal walking systems Optimized walking motions for different objective functions Identification of objective functions from measurements Simulation and optimization approaches for humanoid robots Biologically inspired control algorithms for bipedal walking Generation and deformation of natural walking in computer graphics Imitation of human motions on humanoids Emotional body language during walking Simulation of biologically inspired actuators for bipedal walking machines Modeling and simulation techniques for the development of prostheses Functional electrical stimulation of walking.
Author: Marco Cecarelli
Publisher: Academic Press
ISBN: 0128156597
Category : Technology & Engineering
Languages : en
Pages : 172
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Book Description
Design and Operation of Locomotion Systems examines recent advances in locomotion systems with multidisciplinary viewpoints, including mechanical design, biomechanics, control and computer science. In particular, the book addresses the specifications and requirements needed to achieve the proper design of locomotion systems. The book provides insights on the gait analysis of humans by considering image capture systems. It also studies human locomotion from a rehabilitation viewpoint and outlines the design and operation of exoskeletons, both for rehabilitation and human performance enhancement tasks. Additionally, the book content ranges from fundamental theory and mathematical formulations, to practical implementations and experimental testing procedures.
Author: Josep M. Font-Llagunes
Publisher: Springer
ISBN: 3319306146
Category : Technology & Engineering
Languages : en
Pages : 323
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Book Description
This book includes selected papers from the ECCOMAS Thematic Conference on Multibody Dynamics, that took place in Barcelona, Spain, from June 29 to July 2, 2015. By having its origin in analytical and continuum mechanics, as well as in computer science and applied mathematics, multibody dynamics provides a basis for analysis and virtual prototyping of innovative applications in many fields of contemporary engineering. With the utilization of computational models and algorithms that classically belonged to different fields of applied science, multibody dynamics delivers reliable simulation platforms for diverse highly-developed industrial products such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, smart structures, biomechanical systems, and nanotechnologies.
Author: Farid Amirouche
Publisher: Springer Science & Business Media
ISBN: 0817644067
Category : Technology & Engineering
Languages : en
Pages : 692
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Book Description
This textbook – a result of the author’s many years of research and teaching – brings together diverse concepts of the versatile tool of multibody dynamics, combining the efforts of many researchers in the field of mechanics.
Author: Homer Rahnejat
Publisher: John Wiley & Sons
ISBN: 9781860584633
Category : Technology & Engineering
Languages : en
Pages : 552
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Book Description
Multi-body dynamics describes the physics of motion of an assembly of constrained or restrained bodies. As such it encompasses the behaviour of nearly every living or inanimate object in the universe. Multi-body dynamics - Monitoring and Simulation Techniques III includes papers from leading academic researchers, professional code developers, and practising engineers, covering recent fundamental advances in the field, as well as applications to a host of problems in industry.They broadly cover the areas: Multi-body methodology Structural dynamics Engine dynamics Vehicle dynamics - ride and handling Machines and mechanisms Multi-body Dynamics is a unique volume, describing the latest developments in the field, supplemented by the latest enhancements in computer simulations, and experimental measurement techniques. Leading industrialists explain the importance attached to these developments in industrial problem solving.
Author: Krzysztof Arczewski
Publisher: Springer Science & Business Media
ISBN: 9048199719
Category : Technology & Engineering
Languages : en
Pages : 330
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Book Description
The ECCOMAS Thematic Conference “Multibody Dynamics 2009” was held in Warsaw, representing the fourth edition of a series which began in Lisbon (2003), and was then continued in Madrid (2005) and Milan (2007), held under the auspices of the European Community on Computational Methods in Applied Sciences (ECCOMAS). The conference provided a forum for exchanging ideas and results of several topics related to computational methods and applications in multibody dynamics, through the participation of 219 scientists from 27 countries, mostly from Europe but also from America and Asia. This book contains the revised and extended versions of invited conference papers, reporting on the state-of-the-art in the advances of computational multibody models, from the theoretical developments to practical engineering applications. By providing a helpful overview of the most active areas and the recent efforts of many prominent research groups in the field of multibody dynamics, this book can be highly valuable for both experienced researches who want to keep updated with the latest developments in this field and researches approaching the field for the first time.
