Feedback control of dynamic bipedal robot locomotion / Eric R. Westervelt [and others].

By:

Westervelt, Eric R [author.]

Material type: Text

text

Media type:

unmediated

Carrier type:

volume

ISBN:

1420053728
9781420053722

Subject(s):

DDC classification:

629.8932 22

LOC classification:

TJ211 .F43 2007

Contents:

Preliminaries -- Modeling, Analysis, and Control of Robots with Passive Point Feet -- Walking with Feet -- Appendices -- Nomenclature -- End Notes -- Supplemental Indices.

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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Holdings
Item type	Current library	Call number	Copy number	Status	Date due	Barcode
Book	City Campus City Campus Main Collection	629.8932 FEE (Browse shelf(Opens below))	1	Available		A401750B

Includes bibliographical references (pages 479-498) and index.

Preliminaries -- Modeling, Analysis, and Control of Robots with Passive Point Feet -- Walking with Feet -- Appendices -- Nomenclature -- End Notes -- Supplemental Indices.

"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.

Machine converted from AACR2 source record.

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