Feedback Control of Dynamic Bipedal Robot Locomotion  book cover
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Feedback Control of Dynamic Bipedal Robot Locomotion




ISBN 9781420053722
Published June 26, 2007 by CRC Press
528 Pages - 172 B/W Illustrations

 
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Book 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

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