Feedback control of dynamic bipedal robot locomotion / Eric R. Westervelt [and others].
"Bipedal locomotion is among the most difficult challenges in control engineering. Most books treat the subject from a quasi-static perspective, overlooking the hybrid nature of bipedal mechanics. Feedback Control of Dynamic Bipedal Robot Locomotion is the first book to present a comprehensive...
Saved in:
| Main Author: | |
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| Format: | Book |
| Language: | English |
| Published: |
Boca Raton :
CRC Press,
[2007]
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| Series: | Control and automation ;
1. |
| Subjects: |
| Summary: | "Bipedal locomotion is among the most difficult challenges in control engineering. Most books treat the subject from a quasi-static perspective, overlooking the hybrid nature of bipedal mechanics. Feedback Control of Dynamic Bipedal Robot Locomotion is the first book to present a comprehensive and mathematically sound treatment of feedback design for achieving stable, agile, and efficient locomotion in bipedal robots.; In this unique and groundbreaking treatise, expert authors lead you systematically through every step of the process, including:; ͡thematical modeling of walking and running gaits in planar robots; nalysis of periodic orbits in hybrid systems; ĥsign and analysis of feedback systems for achieving stable periodic motions; lgorithms for synthesizing feedback controllers; ĥtailed simulation examples; Ÿperimental implementations on two bipedal test beds; The elegance of the authors' approach is evident in the marriage of control theory and mechanics, uniting control-based presentation and mathematical custom with a mechanics-based approach to the problem and computational rendering. Concrete examples and numerous illustrations complement and clarify the mathematical discussion. A supporting Web site offers links to videos of several experiments along with MATLAB࣯de for several of the models. This one-of-a-kind book builds a solid understanding of the theoretical and practical aspects of truly dynamic locomotion in planar bipedal robots."--Publisher description. |
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| Physical Description: | 503 pages : illustrations ; 25 cm. |
| Bibliography: | Includes bibliographical references (pages 479-498) and index. |
| ISBN: | 1420053728 9781420053722 |