Bipedal Robots
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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.
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
An Overview On Balancing And Stabilization Control Of Biped Robots
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Author : Hayder Al-Shuka
language : en
Publisher: GRIN Verlag
Release Date : 2017-10-17
An Overview On Balancing And Stabilization Control Of Biped Robots written by Hayder Al-Shuka and has been published by GRIN Verlag this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-10-17 with Technology & Engineering categories.
Academic Paper from the year 2017 in the subject Engineering - Robotics, , language: English, abstract: Researchers dream of developing autonomous humanoid robots which behave/walk like a human being. Biped robots, although complex, have the greatest potential for use in human-centered environments such as the home or office. Studying biped robots is also important for understanding human locomotion and improving control strategies for prosthetic and orthotic limbs. Control systems of humans walking in cluttered environments are complex, however, and may involve multiple local controllers and commands from the cerebellum. Although biped robots have been of interest over the last four decades, no unified stability/balance criterion adopted for stabilization of miscellaneous walking/running modes of biped robots has so far been available. The literature is scattered and it is difficult to construct a unified background for the balance strategies of biped motion. The zero-moment point (ZMP) criterion, however, is a conservative indicator of stabilized motion for a class of biped robots. Therefore, we offer a systematic presentation of multi-level balance controllers for stabilization and balance recovery of ZMP-based humanoid robots.
Assessing Bipedal Locomotion Towards Replicable Benchmarks For Robotic And Robot Assisted Locomotion
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Author : Diego Torricelli
language : en
Publisher: Frontiers Media SA
Release Date : 2019-12-24
Assessing Bipedal Locomotion Towards Replicable Benchmarks For Robotic And Robot Assisted Locomotion written by Diego Torricelli and has been published by Frontiers Media SA this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-12-24 with categories.
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.
Model Reduction And Controller Design Simplification For Bipedal Robots
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Author : Anoop Singh Grewal
language : en
Publisher:
Release Date : 2015
Model Reduction And Controller Design Simplification For Bipedal Robots written by Anoop Singh Grewal and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015 with categories.
The main aims of a bipedal walking robot are to avoid falling and to generally move forward. Towards this end we consider controller reduction. This includes: What is the minimal set of states that a controller needs to sense in order to decide the required control actions? What is the minimal set of control actions that a controller needs to provide in order to reach the desired goals? The minimal set of states and control actions needed indicate that a simpler and reduced model of a bipedal robot can be used to control the balance and locomotion of a walking robot. Our primary approach is based on viable and controllable regions. The N-step viable region is the set of all states from where a robot can take at least N steps and not fall down. The N-step controllable region is the set of all states from where a robot can reach the desired goal (e.g., a given walking speed and step-length) in at most N steps. The similarity in sizes between these regions, for a full-order versus a reduced-order controller, are measures of the efficacy of the reduced controller. The compass-gait walking model, actuated by a hip motor and an impulsive push-off, is used as a testbed for developing and testing the controller-reduction principles. We show that a controller that commands only step-length and push-off, controls the robot almost as well as the most general controller that can swing the leg in arbitrary ways. In this reduced controller, the step-length and push-off are decided based on a single state variable, just after the heel-strike. This reduced controller covers a large fraction of the full controller's viable and controllable regions. The success of this reduced controller suggests that a point-mass model with foot placement (i.e., step-length) and push-off can be used by high-level walking controllers. Other separate projects described in this dissertation are 1) state estimation for the bipedal robot 'Cornell Ranger', 2) controllability analysis of a bicycle in zero gravity, 3) design of chains that can fall faster than gravity, and 4) notes on optimal stabilizing controllers for optimal trajectories.
Modeling And Control For Efficient Bipedal Walking Robots
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Author : Vincent Duindam
language : en
Publisher: Springer Science & Business Media
Release Date : 2009-01-17
Modeling And Control For Efficient Bipedal Walking Robots written by Vincent Duindam 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 2009-01-17 with Technology & Engineering categories.
By the dawn of the new millennium, robotics has undergone a major tra- formation in scope and dimensions. This expansion has been brought about bythematurityofthe?eldandtheadvancesinitsrelatedtechnologies.From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities,providingsupportinservices,entertainment,education,heal- care, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across - verse researchareas and scienti?c disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are pr- ing an abundant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their signi?cance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing ?eld.
A Controller Design Framework For Bipedal Robots
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Author : Pranav Audhut Bhounsule
language : en
Publisher:
Release Date : 2012
A Controller Design Framework For Bipedal Robots written by Pranav Audhut Bhounsule and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012 with categories.
This thesis presents a model-based controller design framework for bipedal robots that combines energy-efficiency with stability. We start with a physics based model for the robot and its actuators. Next, the parameters of the model are identified in a series of bench experiments. Then we formulate an energy-optimal trajectory control problem. Our energy metric is the total cost of transport (TCOT) and is defined as the energy used per unit weight per unit distance travelled. We solve the trajectory control problem using parameter optimization software and an adequately fine grid. To implement the energy-optimal solution on the physical robot, we follow a two part approach. First, we approximate the converged optimal solution with a simpler representation that sufficiently captures the optimality. The resulting walking gait is called the nominal trajectory. Second, we stabilize the nominal trajectory using an eventbased, discrete, intermittent, feed-forward controller. Our stabilizing controller tries to regulate heuristically chosen quantities in a step, like step length or step velocity, doing feedback on a few key sensor data values collected at key points in a step. Using this control framework our knee-less 2D 1 m tall 9.9 kg 4-legged bipedal robot, Ranger, achieved two feats: one, Ranger walked stably with a TCOT of 0.19, which is the lowest TCOT ever achieved by a legged robot on level terrain and, two, Ranger walked non-stop for 65 km or 40.5 miles without battery recharge or touch by a human, setting a distance record for legged robots.
