000 | 03107cam a2200397 i 4500 | ||
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005 | 20221101222638.0 | ||
008 | 080303s2007 flua b 001 0 eng d | ||
010 | _a 2007007727 | ||
011 | _aBIB MATCHES WORLDCAT | ||
020 |
_a1420053728 _qalk. paper |
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020 |
_a9781420053722 _qalk. paper |
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035 | _a(OCoLC)85692798 | ||
040 |
_aDLC _beng _erda _cDLC _dBAKER _dBTCTA _dUKM _dC#P _dYDXCP _dATU |
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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] |
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264 | 4 | _c©2007 | |
300 |
_a503 pages : _billustrations ; _c25 cm. |
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336 |
_atext _btxt _2rdacontent |
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337 |
_aunmediated _bn _2rdamedia |
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338 |
_avolume _bnc _2rdacarrier |
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490 | 1 |
_aControl and automation ; _v1 |
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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 |
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650 | 0 |
_aLocomotion. _9372876 |
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830 | 0 |
_aControl and automation ; _v1. _91065565 |
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907 |
_a.b11294838 _b26-03-18 _c27-10-15 |
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