Feedback Control of Dynamic Bipedal Robot Locomotion: 1st Edition (Hardback) book cover

Feedback Control of Dynamic Bipedal Robot Locomotion

1st Edition

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

CRC Press

528 pages | 172 B/W Illus.

Purchasing Options:$ = USD
Hardback: 9781420053722
pub: 2007-06-26
$245.00
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eBook (VitalSource) : 9781315219424
pub: 2018-10-03
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Description

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.

  • Table of Contents

    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

    About the Series

    Automation and Control Engineering

    Learn more…

    Subject Categories

    BISAC Subject Codes/Headings:
    TEC007000
    TECHNOLOGY & ENGINEERING / Electrical