English | 528 pages | ISBN-10: 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
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.
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