1st Edition
Feedback Control of Dynamic Bipedal Robot Locomotion
By Eric R. Westervelt, Jessy W. Grizzle, Christine Chevallereau, Jun Ho Choi, Benjamin Morris
Copyright 2007
528 Pages
172 B/W Illustrations
by
CRC Press
528 Pages
172 B/W Illustrations
by
CRC Press
Also available as eBook on:
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... Read more
PRELIMINARIES
Introduction
Two Test Beds for Theory
MODELING, ANALYSIS, AND CONTROL OF ROBOTS WITH PASSIVE POINT FEET
Modeling of Planar Bipedal Robots with Point Feet
Periodic Orbits and Poincaré Return Maps
Zero Dynamics of Bipedal Locomotion
Systematic Design of Within-Stride Feedback Controllers for Walking
Systematic Design of Event-Based Feedback Controllers for Walking
Experimental Results for Walking
Running with Point Feet
WALKING WITH FEET
Walking with Feet and Actuated Ankles
Directly Controlling the Foot Rotation Indicator Point
APPENDICES
Appendix A: Getting Started
Appendix B: Essential Technical Background
Appendix C: Proofs and Technical Details
Appendix D: Derivation of the Equations of Motion for Three-Dimensional Mechanisms
Appendix E: Single Support Equations of Motion of RABBIT
NOMENCLATURE
END NOTES
REFERENCES
INDEX
SUPPLEMENTAL INDICES
Introduction
Two Test Beds for Theory
MODELING, ANALYSIS, AND CONTROL OF ROBOTS WITH PASSIVE POINT FEET
Modeling of Planar Bipedal Robots with Point Feet
Periodic Orbits and Poincaré Return Maps
Zero Dynamics of Bipedal Locomotion
Systematic Design of Within-Stride Feedback Controllers for Walking
Systematic Design of Event-Based Feedback Controllers for Walking
Experimental Results for Walking
Running with Point Feet
WALKING WITH FEET
Walking with Feet and Actuated Ankles
Directly Controlling the Foot Rotation Indicator Point
APPENDICES
Appendix A: Getting Started
Appendix B: Essential Technical Background
Appendix C: Proofs and Technical Details
Appendix D: Derivation of the Equations of Motion for Three-Dimensional Mechanisms
Appendix E: Single Support Equations of Motion of RABBIT
NOMENCLATURE
END NOTES
REFERENCES
INDEX
SUPPLEMENTAL INDICES
Biography
Eric R. Westervelt, Jessy W. Grizzle, Christine Chevallereau, Jun Ho Choi, Benjamin Morris
