Feedback Control of Dynamic Bipedal Robot Locomotion (Automation and Control Engineering) - Hardcover

Book 11 of 58: Automation and Control Engineering

Westervelt, Eric R.; Grizzle, Jessy W.; Chevallereau, Christine; Choi, Jun Ho; Morris, Benjamin

 
9781420053722: Feedback Control of Dynamic Bipedal Robot Locomotion (Automation and Control Engineering)
Hardcover
ISBN 10: 1420053728 ISBN 13: 9781420053722
Publisher: CRC Press, 2007

Synopsis

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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    About the Author

    Eric R. Westervelt, Jessy W. Grizzle, Christine Chevallereau, Jun Ho Choi, Benjamin Morris

    "About this title" may belong to another edition of this title.

    Publisher
    CRC Press
    Publication date
    2007
    Language
    English
    ISBN 10 
    1420053728
    ISBN 13 
    9781420053722
    Binding
    Hardcover
    Edition number
    1
    Number of pages
    528