The lecture presents an overview of the state of the art in the analysis and modeling of human locomotion and the underlying motor circuits. Multiple aspects are considered including neurophysiology, gait characterization, biomechanics, numerical modeling, neuroprosthetics, and links to biped robots
The course gives (1) a review of different types of numerical models of control of locomotion and movement in animals, (2) a presentation of different techniques for designing models, and (3) an analysis of the use and testing of those models in robotics and neuroprosthetics.
The course presents the design, control, and applications of legged robots. It gives a review of different types of legged robots (including two-, four- and multi-legged robots), and an analysis of different control methods for legged locomotion.