Feedback Control of Dynamic Bipedal Robot Locomotion
Book Details
Format
Hardback or Cased Book
Book Series
Automation and Control Engineering
ISBN-10
1420053728
ISBN-13
9781420053722
Publisher
Taylor & Francis Inc
Imprint
CRC Press Inc
Country of Manufacture
GB
Country of Publication
GB
Publication Date
Jun 26th, 2007
Print length
528 Pages
Weight
920 grams
Dimensions
23.80 x 16.40 x 3.80 cms
Product Classification:
Power generation & distribution
Ksh 45,900.00
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Presents systematic methods for achieving stable, agile, and efficient locomotion in bipedal machines. This book describes dynamic locomotion in planar bipedal robots, from both theoretical and practical points of view. It is suitable for researchers and practitioners seeking to move beyond the quasi-static walking of powered bipedal robots.
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
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 MATLAB® code 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.
In this unique and groundbreaking treatise, expert authors lead you systematically through every step of the process, including:
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 MATLAB® code 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.
Get Feedback Control of Dynamic Bipedal Robot Locomotion by at the best price and quality guaranteed only at Werezi Africa's largest book ecommerce store. The book was published by Taylor & Francis Inc and it has pages.
