Legged Robots That Balance

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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.

Embedded Robotics

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Author : Thomas Bräunl
language : en
Publisher: Springer Science & Business Media
Release Date : 2008-09-20

Embedded Robotics written by Thomas Bräunl 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 2008-09-20 with Computers categories.

This book presents a unique examination of mobile robots and embedded systems, from introductory to intermediate level. It is structured in three parts, dealing with Embedded Systems (hardware and software design, actuators, sensors, PID control, multitasking), Mobile Robot Design (driving, balancing, walking, and flying robots), and Mobile Robot Applications (mapping, robot soccer, genetic algorithms, neural networks, behavior-based systems, and simulation). The book is written as a text for courses in computer science, computer engineering, IT, electronic engineering, and mechatronics, as well as a guide for robot hobbyists and researchers.

Introduction To Autonomous Mobile Robots Second Edition

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Author : Roland Siegwart
language : en
Publisher: MIT Press
Release Date : 2011-02-18

Introduction To Autonomous Mobile Robots Second Edition written by Roland Siegwart and has been published by MIT Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-02-18 with Computers categories.

The second edition of a comprehensive introduction to all aspects of mobile robotics, from algorithms to mechanisms. Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques. This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners. Curriculum developed by Dr. Robert King, Colorado School of Mines, and Dr. James Conrad, University of North Carolina-Charlotte, to accompany the National Instruments LabVIEW Robotics Starter Kit, are available. Included are 13 (6 by Dr. King and 7 by Dr. Conrad) laboratory exercises for using the LabVIEW Robotics Starter Kit to teach mobile robotics concepts.

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.

Climbing And Walking Robots And The Supporting Technologies For Mobile Machines

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Author : G. Muscato
language : en
Publisher: John Wiley & Sons
Release Date : 2003-11-07

Climbing And Walking Robots And The Supporting Technologies For Mobile Machines written by G. Muscato 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 2003-11-07 with Technology & Engineering categories.

Bringing together academics, researchers, and industrialists, Climbing and Walking Robots 2003 (CLAWAR 2003) provides a forum for cross-fertilization in the different specialities so that both state-of-the-art and industrial applications can be reported on. Original contributions, both industrial and those in new/emerging fields, provide a full picture of climbing and walking robots. The interest in climbing and walking robots (CLAWAR) has increased considerably over recent years, addressing many application fields such as exploration/intervention in extreme environments, personal services, emergency rescue operations, transportation, entertainment, etc., and envisage humanoid robots evolving into mechatronic replicas of ourselves. Topics covered include: Biological Inspired Systems Medical Systems Control of CLAWAR Design Methodology System Modelling and Simulation Modularity and System Architecture Gait Generation and Stability of CLAWAR Biped Locomotion Multi-legged Locomotion Micro Machines Applications Climbing Robots Actuators, Sensors, Navigation, and Sensors Fusion CLAWAR Network Workpackages

Multi Body Dynamic Modeling Of Multi Legged Robots

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Author : Abhijit Mahapatra
language : en
Publisher: Springer Nature
Release Date : 2020-02-27

Multi Body Dynamic Modeling Of Multi Legged Robots written by Abhijit Mahapatra and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-02-27 with Computers categories.

This book describes the development of an integrated approach for generating the path and gait of realistic hexapod robotic systems. It discusses in detail locomation with straight-ahead, crab and turning motion capabilities in varying terrains, like sloping surfaces, staircases, and various user-defined rough terrains. It also presents computer simulations and validation using Virtual Prototyping (VP) tools and real-world experiments. The book also explores improving solutions by applying the developed nonlinear, constrained inverse dynamics model of the system formulated as a coupled dynamical problem based on the Newton–Euler (NE) approach and taking into account realistic environmental conditions. The approach is developed on the basis of rigid multi-body modelling and the concept that there is no change in the configuration of the system in the short time span of collisions.

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.

Legged Robot

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Author : Fouad Sabry
language : en
Publisher: One Billion Knowledgeable
Release Date : 2025-01-27

Legged Robot written by Fouad Sabry and has been published by One Billion Knowledgeable this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-01-27 with Technology & Engineering categories.

"Legged Robot" is an essential read for professionals, students, and enthusiasts interested in robotics science, particularly those drawn to the groundbreaking world of legged locomotion. This book delves into the complex design and mechanics behind robots that walk, run, and maneuver like animals, bridging the gap between nature and technology. By exploring key principles and realworld applications, this book equips you with both foundational and advanced knowledge in legged robotics. With its comprehensive and insightful content, "Legged Robot" offers unmatched value that surpasses its cost, making it a musthave resource for anyone keen to understand the future of robotics Legged robot-This chapter introduces the field of legged robotics, discussing key challenges and innovations that have shaped this area of research Bipedalism-Learn how bipedal movement influences robot design, focusing on balancing and stability in robots with two legs Quadrupedalism-Explore the complexities of quadrupedal robots, highlighting their advantages in mobility and agility compared to bipeds Walking-This chapter covers the fundamental principles of walking in robots, detailing gaits, balance, and energy efficiency Robot locomotion-A broader look at robot locomotion, including different methods of movement and the factors that influence their design Passive dynamics-Investigate the role of passive dynamics in robotic movement, emphasizing the efficiency and simplicity they offer Zero moment point-Discover how the zero moment point concept ensures stability in walking robots, especially in dynamic environments Terrestrial locomotion-Delve into terrestrial locomotion techniques, focusing on walking, running, and climbing capabilities of robots BigDog-A case study on BigDog, a robotic platform developed by Boston Dynamics, showcasing advancements in dynamic stability Marc Raibert-Understand the contributions of Marc Raibert, a pioneer in legged robotics, and his work in dynamic locomotion Hexapod (robotics)-This chapter examines hexapods—robots with six legs—highlighting their versatility and resilience in rough terrains Boston Dynamics-Explore the cuttingedge research and development by Boston Dynamics, a leader in advanced legged robotics Webots-Learn how the Webots simulation platform is used to model and test legged robots in various environments Rhex-Discover Rhex, a unique robot that demonstrates the advantages of an unconventional, compliant design for robust locomotion Human skeletal changes due to bipedalism-Investigate the evolutionary development of the human skeleton and its impact on bipedal locomotion Bioinspired robotics-This chapter discusses the inspiration drawn from biological organisms for robotic design, leading to more efficient locomotion systems Arm swing in human locomotion-Explore the role of arm swinging in human walking and how it influences the design of bipedal robots Walking vehicle-Understand the concept of walking vehicles, which combine the efficiency of legged locomotion with the utility of transport Auke Ijspeert-Learn about Auke Ijspeert’s work in bioinspired robotics and his contributions to the field of legged locomotion Elena García Armada-Delve into the work of Elena García Armada and her advancements in robotics that focus on humanlike legged movement Ardipithecus-Explore the significance of the Ardipithecus in understanding the evolution of bipedalism and its influence on robot design

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.

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