TY  - BOOK
AU  - Westervelt,Eric R.
TI  - Feedback control of dynamic bipedal robot locomotion
T2  - Control and automation
SN  - 1420053728
AV  - TJ211 .F43 2007
U1  - 629.8932 22
PY  - 2007///]
CY  - Boca Raton
PB  - CRC Press
KW  - Robotics
KW  - Locomotion
N1  - 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
N2  - "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
ER  -