| Description |
1 online resource (503 pages) : illustrations |
| Series |
Control and automation ; 1 |
|
Control and automation ; 1.
|
| Contents |
Cover; Title; Copyright; Preface; Contents; Part I: Preliminaries; Chapter 1: Introduction; Chapter 2: Two Test Beds for Theory; Part II: Modeling, Analysis, and Control of Robots with Passive Point Feet; Chapter 3: Modeling of Planar Bipedal Robots with Point Feet; Chapter 4: Periodic Orbits and Poincaré Return Maps; Chapter 5: Zero Dynamics of Bipedal Locomotion; Chapter 6: Systematic Design of Within-Stride Feedback Controllers for Walking; Chapter 7: Systematic Design of Event-Based Feedback Controllers for Walking; Chapter 8: Experimental Results for Walking |
|
Chapter 9: Running with Point FeetPart III: Walking with Feet; Chapter 10: Walking with Feet and Actuated Ankles; Chapter 11: Directly Controlling the Foot Rotation Indicator Point; A: Getting Started; B: Essential Technical Background; C: Proofs and Technical Details; D: Derivation of the Equations of Motion for Three-Dimensional Mechanisms; E: Single Support Equations of Motion of RABBIT; Nomenclature; End Notes; References; Index; Supplemental Indices |
| Summary |
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 i |
| Bibliography |
Includes bibliographical references (pages 479-498) and indexes |
| Subject |
Robotics.
|
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Locomotion.
|
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Robotics
|
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Locomotion
|
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TECHNOLOGY & ENGINEERING -- Engineering (General)
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Locomotion
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Robotics
|
| Form |
Electronic book
|
| Author |
Westervelt, Eric R.
|
| ISBN |
9781420053739 |
|
1420053736 |
|
