Bipedal Robots
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Bipedal Robots
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Author : Christine Chevallereau
language : en
Publisher: Wiley-ISTE
Release Date : 2009-01-20
Bipedal Robots written by Christine Chevallereau and has been published by Wiley-ISTE this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-01-20 with Sports & Recreation categories.
This book presents various techniques to carry out the gait modeling, the gait patterns synthesis, and the control of biped robots. Some general information on the human walking, a presentation of the current experimental biped robots, and the application of walking bipeds are given. The modeling is based on the decomposition on a walking step into different sub-phases depending on the way each foot stands into contact on the ground. The robot design is dealt with according to the mass repartition and the choice of the actuators. Different ways to generate walking patterns are considered, such as passive walking and gait synthesis performed using optimization technique. Control based on the robot modeling, neural network methods, or intuitive approaches are presented. The unilaterality of contact is dealt with using on-line adaptation of the desired motion.
Bipedal Robots
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Author : Christine Chevallereau
language : en
Publisher: John Wiley & Sons
Release Date : 2013-03-01
Bipedal Robots written by Christine Chevallereau and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-03-01 with Technology & Engineering categories.
This book presents various techniques to carry out the gait modeling, the gait patterns synthesis, and the control of biped robots. Some general information on the human walking, a presentation of the current experimental biped robots, and the application of walking bipeds are given. The modeling is based on the decomposition on a walking step into different sub-phases depending on the way each foot stands into contact on the ground. The robot design is dealt with according to the mass repartition and the choice of the actuators. Different ways to generate walking patterns are considered, such as passive walking and gait synthesis performed using optimization technique. Control based on the robot modeling, neural network methods, or intuitive approaches are presented. The unilaterality of contact is dealt with using on-line adaptation of the desired motion.
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.
Feedback Control Of Dynamic Bipedal Robot Locomotion
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Author : Eric R. Westervelt
language : en
Publisher: CRC Press
Release Date : 2018-10-03
Feedback Control Of Dynamic Bipedal Robot Locomotion written by Eric R. Westervelt and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-10-03 with Technology & Engineering categories.
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.
Bio Inspired Robotics
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Author : Toshio Fukuda
language : en
Publisher: MDPI
Release Date : 2018-11-07
Bio Inspired Robotics written by Toshio Fukuda and has been published by MDPI this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-11-07 with Technology & Engineering categories.
This book is a printed edition of the Special Issue "Bio-Inspired Robotics" that was published in Applied Sciences
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.
Design Of High Performance Legged Robots
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Author : Josephus J. M. Driessen
language : en
Publisher: Università degli Studi di Genova
Release Date : 2019-07-11
Design Of High Performance Legged Robots written by Josephus J. M. Driessen and has been published by Università degli Studi di Genova this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-07-11 with Technology & Engineering categories.
PhD Dissertation The availability and capabilities of present-day technology suggest that legged robots should be able to physically outperform their biological counterparts. This thesis revolves around the philosophy that the observed opposite is caused by over-complexity in legged robot design, which is believed to substantially suppress design for high-performance. In this dissertation a design philosophy is elaborated with a focus on simple but high performance design. This philosophy is governed by various key points, including holistic design, technology-inspired design, machine and behaviour co-design and design at the performance envelope. This design philosophy also focuses on improving progress in robot design, which is inevitably complicated by the aspire for high performance. It includes an approach of iterative design by trial-and-error, which is believed to accelerate robot design through experience. This thesis mainly focuses on the case study of Skippy, a fully autonomous monopedal balancing and hopping robot. Skippy is maximally simple in having only two actuators, which is the minimum number of actuators required to control a robot in 3D. Despite its simplicity, it is challenged with a versatile set of high-performance activities, ranging from balancing to reaching record jump heights, to surviving crashes from several meters and getting up unaided after a crash, while being built from off-the-shelf technology. This thesis has contributed to the detailed mechanical design of Skippy and its optimisations that abide the design philosophy, and has resulted in a robust and realistic design that is able to reach a record jump height of 3.8m. Skippy is also an example of iterative design through trial-and-error, which has lead to the successful design and creation of the balancing-only precursor Tippy. High-performance balancing has been successfully demonstrated on Tippy, using a recently developed balancing algorithm that combines the objective of tracking a desired position command with balancing, as required for preparing hopping motions. This thesis has furthermore contributed to several ideas and theories on Skippy's road of completion, which are also useful for designing other high-performance robots. These contributions include (1) the introduction of an actuator design criterion to maximize the physical balance recovery of a simple balancing machine, (2) a generalization of the centre of percussion for placement of components that are sensitive to shock and (3) algebraic modelling of a non-linear high-gravimetric energy density compression spring with a regressive stress-strain profile. The activities performed and the results achieved have been proven to be valuable, however they have also delayed the actual creation of Skippy itself. A possible explanation for this happening is that Skippy's requirements and objectives were too ambitious, for which many complications were encountered in the decision-making progress of the iterative design strategy, involving trade-offs between exercising trial-and-error, elaborate simulation studies and the development of above-mentioned new theories. Nevertheless, from (1) the resulting realistic design of Skippy, (2) the successful creation and demonstrations of Tippy and (3) the contributed theories for high-performance robot design, it can be concluded that the adopted design philosophy has been generally successful. Through the case study design project of the hopping and balancing robot Skippy, it is shown that proper design for high physical performance (1) can indeed lead to a robot design that is capable of physically outperforming humans and animals and (2) is already very challenging for a robot that is intended to be very simple.
Legged Robots That Balance
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Author : Marc H. Raibert
language : en
Publisher: MIT Press
Release Date : 1986
Legged Robots That Balance written by Marc H. Raibert and has been published by MIT Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 1986 with Computers categories.
This book, by a leading authority on legged locomotion, presents exciting engineering and science, along with fascinating implications for theories of human motor control. It lays fundamental groundwork in legged locomotion, one of the least developed areas of robotics, addressing the possibility of building useful legged robots that run and balance. The book describes the study of physical machines that run and balance on just one leg, including analysis, computer simulation, and laboratory experiments. Contrary to expectations, it reveals that control of such machines is not particularly difficult. It describes how the principles of locomotion discovered with one leg can be extended to systems with several legs and reports preliminary experiments with a quadruped machine that runs using these principles. Raibert's work is unique in its emphasis on dynamics and active balance, aspects of the problem that have played a minor role in most previous work. His studies focus on the central issues of balance and dynamic control, while avoiding several problems that have dominated previous research on legged machines. Marc Raibert is Associate Professor of Computer Science and Robotics at Carnegie-Mellon University and on the editorial board of The MIT Press journal, Robotics Research. Legged Robots That Balanceis fifteenth in the Artificial Intelligence Series, edited by Patrick Winston and Michael Brady.
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.
Industrial Robots Design Applications And Technology
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Author : Dr. Senthilkumar Selvaraj
language : en
Publisher: Academic Guru Publishing House
Release Date : 2023-11-21
Industrial Robots Design Applications And Technology written by Dr. Senthilkumar Selvaraj and has been published by Academic Guru Publishing House this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-11-21 with Study Aids categories.
Industrial Robots: Design, Applications, and Technology is an authoritative compendium that unravels the intricate tapestry of modern industrial robotics. Authored by a cadre of seasoned experts, this comprehensive volume navigates the reader through the intricate realms of robot design, applications, and cutting-edge technology. The book meticulously dissects the anatomy of industrial robots, providing a profound exploration of their design principles, mechanical frameworks, and the integration of state-of-the-art technologies. From automotive assembly lines to precision manufacturing, the text meticulously examines the diverse applications of industrial robots. It illuminates how these mechanical marvels contribute to increased efficiency, precision, and innovation across industries. Drawing from real-world examples, the book showcases the transformative impact of robots on production processes, emphasizing their role in shaping the contemporary industrial landscape. At the forefront of technological advancements, the book delves into the latest breakthroughs propelling industrial robotics forward. Readers will gain insights into the integration of artificial intelligence, sensor technologies, and advanced programming paradigms, providing a forward-looking perspective on the evolving nature of automation. Industrial Robots stands as an indispensable resource for scholars, engineers, and industry professionals seeking a comprehensive understanding of the multifaceted world of industrial robotics and its profound implications for the future of manufacturing.