Biped Locomotion

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Biped Locomotion
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Author : Miomir Vukobratovic
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Biped Locomotion written by Miomir Vukobratovic and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Technology & Engineering categories.
Here for the first time in one book is a comprehensive and systematic approach to the dynamic modeling and control of biped locomotion robots. A survey is included of various approaches to the control of biped robots, and a new approach to the control of biped systems based on a complete dynamic model is presented in detail. The stability of complete biped system is presented for the first time as a highly nonlinear dynamic system. Also included is new software for the synthesis of a dynamically stable walk for arbitrary biped systems, presented here for the first time. A survey of various realizations of biped systems and numerous numerical examples are given. The reader is given a deep insight into the entire area of biped locomotion. The book covers all relevant approaches to the subject and gives the most complete account to date of dynamic modeling, control and realizations of biped systems.
Biped Robots
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Author : Armando Carlos De Pina Filho
language : en
Publisher: BoD – Books on Demand
Release Date : 2011-02-04
Biped Robots written by Armando Carlos De Pina Filho and has been published by BoD – Books on Demand this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-02-04 with Technology & Engineering categories.
Biped robots represent a very interesting research subject, with several particularities and scope topics, such as: mechanical design, gait simulation, patterns generation, kinematics, dynamics, equilibrium, stability, kinds of control, adaptability, biomechanics, cybernetics, and rehabilitation technologies. We have diverse problems related to these topics, making the study of biped robots a very complex subject, and many times the results of researches are not totally satisfactory. However, with scientific and technological advances, based on theoretical and experimental works, many researchers have collaborated in the evolution of the biped robots design, looking for to develop autonomous systems, as well as to help in rehabilitation technologies of human beings. Thus, this book intends to present some works related to the study of biped robots, developed by researchers worldwide.
Autonomous Systems Self Organization Management And Control
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Author : Bernd Mahr
language : en
Publisher: Springer Science & Business Media
Release Date : 2008-09-15
Autonomous Systems Self Organization Management And Control written by Bernd Mahr and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-09-15 with Technology & Engineering categories.
The 2008 TUB-SJTU joint workshop on “Autonomous Systems – Self-Organization, Management, and Control” was held on October 6, 2008 at Shanghai Jiao Tong University, Shanghai, China. The workshop, sponsored by Shanghai Jiao Tong University and Technical University of Berlin brought together scientists and researchers from both universities to present and discuss the latest progress on autonomous systems and its applications in diverse areas. Autonomous systems are designed to integrate machines, computing, sensing, and software to create intelligent systems capable of interacting with the complexities of the real world. Autonomous systems represent the physical embodiment of machine intelligence. Topics of interest include, but are not limited to theory and modeling for autonomous systems; organization of autonomous systems; learning and perception; complex systems; multi-agent systems; robotics and control; applications of autonomous systems.
Handbook On Soft Robotics
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Author : Thrishantha Nanayakkara
language : en
Publisher: Springer Nature
Release Date : 2024-12-02
Handbook On Soft Robotics written by Thrishantha Nanayakkara and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-12-02 with Technology & Engineering categories.
This book explains how to design and control a soft robot in understandable language. In addition, it provides a comprehensive coverage of the essential theory and techniques used in soft robotics that can be used by graduate students in soft robotics. The book covers several key areas in soft robots, ranging from design and fabrication to modelling and control. It also includes many case studies and examples. The book clearly explains mathematical concepts and uses illustrative explanation to help engineers and junior graduate students understand the physical meaning of the key concepts and approaches in soft robotics. Reading this book gives professional engineers and students a sound knowledge of soft robotics that they can take to their careers and research.
Modeling Simulation And Optimization Of Bipedal Walking
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Author : Katja Mombaur
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-02-28
Modeling Simulation And Optimization Of Bipedal Walking written by Katja Mombaur and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-02-28 with Technology & Engineering categories.
The model-based investigation of motions of anthropomorphic systems is an important interdisciplinary research topic involving specialists from many fields such as Robotics, Biomechanics, Physiology, Orthopedics, Psychology, Neurosciences, Sports, Computer Graphics and Applied Mathematics. This book presents a study of basic locomotion forms such as walking and running is of particular interest due to the high demand on dynamic coordination, actuator efficiency and balance control. Mathematical models and numerical simulation and optimization techniques are explained, in combination with experimental data, which can help to better understand the basic underlying mechanisms of these motions and to improve them. Example topics treated in this book are Modeling techniques for anthropomorphic bipedal walking systems Optimized walking motions for different objective functions Identification of objective functions from measurements Simulation and optimization approaches for humanoid robots Biologically inspired control algorithms for bipedal walking Generation and deformation of natural walking in computer graphics Imitation of human motions on humanoids Emotional body language during walking Simulation of biologically inspired actuators for bipedal walking machines Modeling and simulation techniques for the development of prostheses Functional electrical stimulation of walking.
Disturbance Rejection Control For Bipedal Robot Walkers
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Author : Jaime Arcos Legarda
language : en
Publisher: Universidad Nacional de Colombia
Release Date : 2022-12-31
Disturbance Rejection Control For Bipedal Robot Walkers written by Jaime Arcos Legarda and has been published by Universidad Nacional de Colombia this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-12-31 with Business & Economics categories.
This dissertation contributes to the theoretical and experimental foundation of disturbance rejection control in dynamic bipedal robots. Disturbances produced by model uncertainties and external disturbances are studied as lumped signals that can be rejected through feedback control techniques. The disturbance rejection problem is addressed with the design of trajectory tracking controllers working complementary with an adaptive reference trajectory generator. Two trajectory tracking control strategies were developed: (i) a novel model-based active disturbance rejection control and (ii) a robust multivariable generalized proportional integral control. The methodology adopted allows the design of trajectory generators with the ability to produce periodic stable gait patterns and reject disturbances through the use of an adaptive reference trajectory generator. A discrete control action resets the gait trajectory references after the impact produced by the robot's support-leg exchange in order to maintain a zero tracking error in the controlled joints. In addition, an extended hybrid zero dynamics is introduced to examine the periodic stability of the system with the use of a lower-dimensional representation of the full hybrid dynamics with uncertainties. A physical bipedal robot testbed, named as Saurian, was fabricated for validation purposes. Numerical simulation and physical experiments show the robustness of the proposed control strategies against external disturbances and model uncertainties that could affect both the swing motion phase and the support-leg exchange.
Cutting Edge Robotics
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Author :
language : en
Publisher: I-Tech
Release Date : 2010
Cutting Edge Robotics written by and has been published by I-Tech this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010 with Robotics categories.
Bioinspired Legged Locomotion
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Author : Maziar Ahmad Sharbafi
language : en
Publisher: Butterworth-Heinemann
Release Date : 2017-11-21
Bioinspired Legged Locomotion written by Maziar Ahmad Sharbafi and has been published by Butterworth-Heinemann this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-11-21 with Technology & Engineering categories.
Bioinspired Legged Locomotion: Models, Concepts, Control and Applications explores the universe of legged robots, bringing in perspectives from engineering, biology, motion science, and medicine to provide a comprehensive overview of the field. With comprehensive coverage, each chapter brings outlines, and an abstract, introduction, new developments, and a summary. Beginning with bio-inspired locomotion concepts, the book's editors present a thorough review of current literature that is followed by a more detailed view of bouncing, swinging, and balancing, the three fundamental sub functions of locomotion. This part is closed with a presentation of conceptual models for locomotion. Next, the book explores bio-inspired body design, discussing the concepts of motion control, stability, efficiency, and robustness. The morphology of legged robots follows this discussion, including biped and quadruped designs. Finally, a section on high-level control and applications discusses neuromuscular models, closing the book with examples of applications and discussions of performance, efficiency, and robustness. At the end, the editors share their perspective on the future directions of each area, presenting state-of-the-art knowledge on the subject using a structured and consistent approach that will help researchers in both academia and industry formulate a better understanding of bioinspired legged robotic locomotion and quickly apply the concepts in research or products. - Presents state-of-the-art control approaches with biological relevance - Provides a thorough understanding of the principles of organization of biological locomotion - Teaches the organization of complex systems based on low-dimensional motion concepts/control - Acts as a guideline reference for future robots/assistive devices with legged architecture - Includes a selective bibliography on the most relevant published articles
Field Robotics Proceedings Of The 14th International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines
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Author : Philippe Bidaud
language : en
Publisher: World Scientific
Release Date : 2012
Field Robotics Proceedings Of The 14th International Conference On Climbing And Walking Robots And The Support Technologies For Mobile Machines written by Philippe Bidaud and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012 with Technology & Engineering categories.
This book provides state of the art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2011 conference. A great deal of interest is vested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports the trend to address current interest in mobile robotics to meet the needs of mankind in various segments of the society. Field robotics aims to bring technologies that allow autonomous systems to assist and/or replace humans performing tasks that are difficult, repetitive, unpleasant, or take place in hazardous environments. These robotic systems will bring sociological and economic benefits through improved human safety, increased equipment utilisation, reduced maintenance costs and increased production.
Re Engineering For Sustainable Industrial Production
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Author : Luis M. Camarinha-Matos
language : en
Publisher: Springer
Release Date : 2013-03-09
Re Engineering For Sustainable Industrial Production written by Luis M. Camarinha-Matos and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-03-09 with Technology & Engineering categories.
In today's changing world, enterprises need to survive in an ever volatile competitive market environment. Their success will depend on the strategies they practice and adopt. Every year, new ideas and concepts are emerging in order for companies to become successful enterprises. Cross Border Enterprises is the new 'hot' topic arising in the business process world at present. Many terms have been coined together and are being driven in the popular business press to describe this new strategy of conducting business, ie. Extended Enterprise (Browne et al. , 1995; O'Neill and Sacket, 1994; Busby and Fan, 1993; Caskey, 1995), Virtual Enterprise (Goldmann and Preiss, 1991; Parunak, 1994; Goranson, 1995; Doumeingts et al. , 1995), Seamless Enterprise (Harrington, 1995), Inter-Enterprise Networking (Browne et al. , 1993), Dynamic Enterprise (Weston, 1996) and so on. Many people have argued that they mean the same thing, just using different words. Others feel they are different. But how different are they? In this paper the authors will present some basic lines required from this new strategy for conducting and coordinating distributed business processes (DBP), as well as trying to clarify the particularities of two of the widest spread terms related to it: Virtual and Extended Enterprise. 2 CLUSTERS OF PRESSURES The business world currently faces an increased trend towards globalisation, environmentally benign production and customisation of products and processes, forcing individual enterprises to work together across the value chain in order to cope with market influences.