Feedback Control of Dynamic Bipedal Robot Locomotion Automation and Control Engineering 1st Edition by Eric Westervelt, Jessy Grizzle, Christine Chevallereau, Jun Ho Choi, Benjamin Morris ISBN 978-1420053722 1420053728
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Feedback Control of Dynamic Bipedal Robot Locomotion Automation and Control Engineering 1st Edition by Eric R. Westervelt, Jessy W. Grizzle, Christine Chevallereau, Jun Ho Choi, Benjamin Morris – Ebook PDF Instant Download/Delivery: 978-1420053722, 1420053728
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Product details:
ISBN 10: 1420053728
ISBN 13: 978-1420053722
Author: Eric R. Westervelt, Jessy W. Grizzle, Christine Chevallereau, Jun Ho Choi, Benjamin Morri
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:
Part I: Preliminaries
Introduction
Two Test Beds for Theory
Part II: 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
Part III: Walking with Feet
Walking with Feet and Actuated Ankles
Directly Controlling the Foot Rotation Indicator Point
Appendices
Appendix A: Nonlinear Control Theory and Lagrangian Mechanics
Appendix B: Additional Mathematical Tools
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Tags: Eric R. Westervelt, Jessy W. Grizzle, Christine Chevallereau, Jun Ho Choi, Benjamin Morri