Modeling, Simulation and Optimization of Bipedal Walking

Trajectory-Based Dynamic Programming.- Use of Compliant Actuators in Prosthetic Feet and the Design of the AMP-Foot 2.0.- Modeling and Optimization of Human Walking.- Online CPG-based gait monitoring and optimal control of the ankle joint for assisted walking in hemiplegic subjects.- The combined role of motion-related cues and upper body posture for the expression of emotions during human walking.- Whole Body Motion Control Framework for Arbitrarily and Simultaneously Assigned Upper-Body Tasks and Walking Motion.- Structure preserving optimal control of three-dimensional compass gait.- Quasi-Straightened Knee Walking for the Humanoid Robot.- Modeling and Control of Dynamically Walking Bipedal Robots.- In humanoid robots, as in humans, bipedal standing should come before bipedal walking: implementing the Functional Reach Test.- A new optimization criterion introducing the muscle stretch velocity in the muscular redundancy problem: a first step into the modeling of spastic muscle.- Forward and Inverse Optimal Control of Bipedal Running.- Locomotion Synthesis for Digital Actors.- Whole-Body Motion Synthesis with LQP-based Controller – Application to iCub.- Walking and running: how leg compliance shapes the way we move.- Modeling and simulation of walking with a mobile gait rehabilitation system using markerless motion data.- Optimization and Imitation Problems for Humanoid Robots.- Motor Control and Spinal Pattern Generators in Humans.- Modeling Human-Like Joint Behavior with Mechanical and Active Stiffness.- Geometry and Biomechanics for Locomotion Synthesis and Control.