Eric R. Westervelt, Jessy W. Grizzle, "Feedback Control of Dynamic Bipedal Robot Locomotion"
Publisher: CRC Press | pages: 528 | 2007 | ISBN: 1420053728 | PDF | 5,8 mb
Publisher: CRC Press | pages: 528 | 2007 | ISBN: 1420053728 | PDF | 5,8 mb
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:
Mathematical modeling of walking and running gaits in planar robots
Analysis of periodic orbits in hybrid systems
Design and analysis of feedback systems for achieving stable periodic motions
Algorithms for synthesizing feedback controllers
Detailed simulation examples
Experimental implementations on two bipedal test beds
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