Elasticity in conventionally built walking robots is an undesired side-effect that is suppressed as much as possible because it makes control very hard and thus complex control algorithms must be used. The human motion apparatus, in contrast, shows a very high degree of flexibility with sufficient stability. In this research we investigate how compliance and damping can deliberately be used in humanoid robots to improve walking capabilities. A modular robot system consisting of rigid segments, joint modules and adjustable compliant cables spanning one or two joints is used to configure a human-like biped. In parallel, a simulation model of the robot was developed and analyzed. Walking motion is gained by oscillatory out-of-phase excitations of the hip joints. An optimization of the walking speed has been performed by improving the viscoelastic properties of the leg and identifying the appropriate hip control parameters. A good match was found between real robot experiments and numerical simulations. At higher speeds, transitions from walking to running are found in both the simulation as well as in the robot.

The development of optimized motions of humanoid robots that guarantee fast and also stable walking is an important task, especially in the context of autonomous soccer-playing robots in RoboCup. We present a walking motion optimization approach for the humanoid robot prototype HR18 which is equipped with a low-dimensional parameterized walking trajectory generator, joint motor controller and an internal stabilization. The robot is included as hardware-in-the-loop to define a low-dimensional black-box optimization problem. In contrast to previously performed walking optimization approaches, we apply a sequential surrogate optimization approach using stochastic approximation of the underlying objective function and sequential quadratic programming to search for a fast and stable walking motion. This is done under the conditions that only a small number of physical walking experiments should have to be carried out during the online optimization process. For the identified walking motion for the considered 55 cm tall humanoid robot, we measured a forward walking speed of more than 30 cm s 11 . With a modified version of the robot, even more than 40 cm s 11 could be achieved in permanent operation.

The modeling of the time dependent, dynamic behavior of the human musculoskeletal system results in a large scale mechanical multibody system. This consists of submodels for the skeleton, wobbling masses, muscles and tendons as redundant actuators. Optimization models are required for the simulation of the muscle groups involved in a motion. In contrast to the inverse dynamics simulation the forward dynamics simulation enables to consider very general problem statements in principle. The paper presents a new approach to the forward dynamics simulation and optimization of human body dynamics which overcomes the enormous computational cost of current approaches for solving the resulting optimal control problems. The presented approach is based on a suitable modeling of the dynamics of the musculoskeletal system in combination with a tailored direct collocation method for optimal control. First numerical results for a human kick demonstrate an improvement in computational time of two orders of magnitude when compared to standard methods.

Purpose of the Review Elevated levels of anti-phospholipid (aPL) antibodies are the most important criterion in the diagnosis of anti-phospholipid syndrome (APS) and are usually responsible for promoting the risk of thrombotic complications. Now, in the course of the global coronavirus disease 2019 (COVID-19) pandemic, measurable aPL antibodies have also been detected in a noticeable number of patients showing a variety ranging from studies with only isolated positive tests to cohorts with very high positivity. Thus, the question arises as to whether these two different clinical pictures may be linked. Recent Findings The ambivalent results showed a frequent occurrence of the investigated aPL antibodies in COVID-19 patients to an individually varying degree. While some question a substantial correlation according to their results, a number of studies raise questions about the significance of a correlation of aPL antibodies in COVID-19 patients. Within the scope of this review, these have now been described and compared with each other. Summary Ultimately, it is necessary to conduct further studies that specifically test aPL antibodies in a larger context in order to make subsequent important statements about the role of APS in COVID-19 and to further strengthen the significance of the described comparisons.

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