Hybrid Control and Motion Planning of Dynamical Legged Locomotion

William A. Gruver Kaveh Akabri Hamed Guy A. Dumont Nasser Sadati

ISBN 10: 1118317076 / ISBN 13: 9781118317075

Published by John Wiley & Sons, 2012

About this Item

pp. 272 Index.

Seller Inventory # 2642562936

Bibliographic Details

• Title: Hybrid Control and Motion Planning of Dynamical Legged Locomotion
• Publisher: John Wiley & Sons
• Publication Date: 2012
• Language: English
• ISBN 10: 1118317076
• ISBN 13: 9781118317075
• Binding: Hardcover
• Condition: New

About this title

Synopsis

This book addresses the need in the field for a comprehensive review of motion planning algorithms and hybrid control methodologies for complex legged robots. Introducing a multidisciplinary systems engineering approach for tackling many challenges posed by legged locomotion, the book provides engineering detail including hybrid models for planar and 3D legged robots, as well as hybrid control schemes for asymptotically stabilizing periodic orbits in these closed-loop systems. Complete with downloadable MATLAB code of the control algorithms and schemes used in the book, this book is an invaluable guide to the latest developments and future trends in dynamical legged locomotion.

About the Author

NASSER SADATI is Professor in the Department of Electrical Engineering, Sharif University of Technology, Tehran, Iran.

GUY A. DUMONT is Professor in the Department of Electrical and Computer Engineering, The University of British Columbia, Vancouver, BC, Canada.

KAVEH AKBARI HAMED is Postdoctoral Research Fellow at the Electrical Engineering and Computer Science Department, University of Michigan, Ann Arbor, MI, USA.

WILLIAM A. GRUVER is Professor Emeritus in the School of Engineering Science, Simon Fraser University, Burnaby, BC, Canada.