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008 080303s2007 flua b 001 0 eng d
010 _a 2007007727
011 _aBIB MATCHES WORLDCAT
020 _a1420053728
_qalk. paper
020 _a9781420053722
_qalk. paper
035 _a(OCoLC)85692798
040 _aDLC
_beng
_erda
_cDLC
_dBAKER
_dBTCTA
_dUKM
_dC#P
_dYDXCP
_dATU
050 0 0 _aTJ211
_b.F43 2007
082 0 0 _a629.8932
_222
100 1 _aWestervelt, Eric R.,
_eauthor.
_91065564
245 1 0 _aFeedback control of dynamic bipedal robot locomotion /
_cEric R. Westervelt [and others].
264 1 _aBoca Raton :
_bCRC Press,
_c[2007]
264 4 _c©2007
300 _a503 pages :
_billustrations ;
_c25 cm.
336 _atext
_btxt
_2rdacontent
337 _aunmediated
_bn
_2rdamedia
338 _avolume
_bnc
_2rdacarrier
490 1 _aControl and automation ;
_v1
504 _aIncludes bibliographical references (pages 479-498) and index.
505 0 0 _tPreliminaries --
_tModeling, Analysis, and Control of Robots with Passive Point Feet --
_tWalking with Feet --
_tAppendices --
_tNomenclature --
_tEnd Notes --
_tSupplemental Indices.
520 _a"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.
588 _aMachine converted from AACR2 source record.
650 0 _aRobotics.
_9323459
650 0 _aLocomotion.
_9372876
830 0 _aControl and automation ;
_v1.
_91065565
907 _a.b11294838
_b26-03-18
_c27-10-15
942 _cB
945 _a629.8932 FEE
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999 _c1181021
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