Contents of the CD-ROM accompanying the thesis
(hier geht es zur deutschen Version)

Three-dimensional biomechanical modeling and the
development of a controller for the simulation of bipedal walking

PhD thesis
submitted to the faculty of physics at
Eberhard-Karls-University Tübingen
by
Arnim Henze
2002

    		• README-file
    		• Full text of the thesis [PDF 4.0MB] (in German)
    		• In order to perform the simulations a software tool 'DySim' (documentation [PDF 0.6MB] (in German)) was developed, which is based on the differentiation-free formalism to generate the Lagrangian equations of the second kind and the software library SPACELIB by Legnani.
    		• Animation movies (MPEG-1) of all simulations discussed in the thesis:
    2D-Simulations:
    Simulation Comment
    sagittal
    cool (chapter 3.6, figure 3.8A)
    [4.4MB]
    normal (chapter 3.6, figure 3.8B)
    [6.0MB]
    army (chapter 3.6, figure 3.8C)
    [6.2MB]
    groucho (chapter 3.6, figure 3.8D)
    [6.7MB]
    armchaos (chapter 3.6, figure 3.8E)
    [9.3MB]
    armcontrol (chapter 3.6, figure 3.8F)
    [9.3MB]
    3D-Simulations:
    Simulation Comment
    sagittal
    frontal
    transversal
    scene
    slower (chapter 4.4.1 and 4.4.2)
    [9.5MB]
    [11MB]
    [4.1MB]
    slow (chapter 4.2, 4.3 and 4.4.2)
    [9.7MB]
    [11MB]
    [4.1MB]
    fast (chapter 4.4.2)
    [9.9MB]
    [11MB]
    [4.1MB]
    faster (chapter 4.4.2)
    [10MB]
    [11MB]
    [4.1MB]
    stiffback (chapter 4.4.1)
    [3.2MB]
    [3.6MB]
    [1.4MB]
    armchaos (chapter 4.4.3)
    [10MB]
    [11MB]
    [4.1MB]
    armcontrol (chapter 4.4.3)
    [11MB]
    [11MB]
    [4.1MB]
    turn1 (chapter 4.4.4)
    [10MB]
    [11MB]
    [4.1MB]
    [3.7MB]
    turn2 (chapter 4.4.4)
    [11MB]
    [11MB]
    [4.1MB]
    [8.7MB]
    		• Animation movies (MPEG-1) of a dataset of human walking by Guido Kramann:
    3D-Real:
    Dataset Comment
    sagittal
    frontal
    transversal
    real
    [0.5MB]
    [0.4MB]
    [0.4MB]
    ©Arnim Henze Institute for Astronomy and Astrophysics, Eberhard-Karls-University Tübingen, 2002