**********************************************************************
*                        Copyright (c)  2002                         *
*                            Arnim Henze                             *
*                                                                    *
*                 henze@tat.physik.uni-tuebingen.de                  *
*           http://www.tat.physik.uni-tuebingen.de/~henze            *
*   http://www.tat.physik.uni-tuebingen.de/~biomechanik/Diss/henze   *
**********************************************************************

This CD-ROM accompanying the thesis

	Threedimensional 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-Universität Tübingen
                     by
                 Arnim Henze

                    2002

contains

(a) the full text of the thesis as well as the documentation of
    the simulation tool 'DySim' used for the simulations (both PDF)

(b) the animation movies of all simulations discussed in the text
    (MPEG-1 coded):

    (A) animation movies of the two-dimensional simulations (printed
        as strobe figures in chap. 3.6 of the thesis) in the directory
        '2D-Simulation':

           cool:       (Fig. 3.8A)
           normal:     (Fig. 3.8B)
           army:       (Fig. 3.8C)
           groucho:    (Fig. 3.8D)
           armchaos:   (Fig. 3.8E)
           armcontrol: (Fig. 3.8F)

    (B) animation movies of the three-dimensional simulations in
        the directory '3D-Simulation':

        The filenames have been constructed as follows:
        1. description of the perspective:
           _front: view on the yz-plane of the inertial frame in
                   negative x-direction
           _sagit: view on the xz-plane of the inertial frame in
                   positive y-direction
           _trans: view on the xy-plane of the inertial frame in
                   negative z-direction
           _scene: view on the xy-plane of the inertial frame in
                   negative z-direction with the "camera" fixed
        2. description of the simulation run:
           slower:     very slow walking, chap. 4.4.1 and 4.4.2
                       (aver. speed v_x = 0.73 m/s)
           slow:       simulation run discussed in detail as an example,
                       chap. 4.2, 4.3 and 4.4.2 (aver. speed
                       v_x = 0.88 m/s)
           fast:       fast walking, chap. 4.4.2
                       (aver. speed v_x = 1.17 m/s)
           faster:     even faster walking, chap. 4.4.2
                       (aver. speed v_x = 1.33 m/s)
           stiffback:  walking with a stiff back, chap. 4.4.1
           armchaos:   walking with arms swinging in an uncontrolled way,
                       chap. 4.4.3
           armcontrol: walking with coordinated movement of the arms,
                       chap. 4.4.3
           turn1:      walking with discontinuously changing walking
                       direction, chap. 4.4.4
           turn2:      walking with continously changing walking
                       direction, chap. 4.4.4

    (C) animation movies of three-dimensional human walking recorded
        by motion capture (by Guido Kramann) in the directory
        '3D-Real'. (The filename convention is the same as in the
        '3D-Simulation' directory.)

© Arnim Henze, 2002
  Institute for Astronomy and Astrophysics
  Eberhard-Karls-University Tübingen