Feedback control of dynamic bipedal robot locomotion / Eric R. Westervelt [and others].
Material type: TextSeries: Control and automation ; 1.Publisher: Boca Raton : CRC Press, [2007]Copyright date: ©2007Description: 503 pages : illustrations ; 25 cmContent type:- text
- unmediated
- volume
- 1420053728
- 9781420053722
- 629.8932 22
- TJ211 .F43 2007
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 |
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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.
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