Modeling And Control For Efficient Bipedal Walking Robots
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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.
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.
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.
Modeling And Designing Bipedal Walking Robot
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Author : Ashish Thakur
language : en
Publisher: Independently Published
Release Date : 2018-10-07
Modeling And Designing Bipedal Walking Robot written by Ashish Thakur and has been published by Independently Published this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-10-07 with Education categories.
A humanoid robot is a robot with its body shape built to resemble the human body. The design may be for functional purposes, such as interacting with human tools and environments, for experimental purposes, such as the study of al locomotion or for other purposes. In general, humanoid robots have a torso, a head, two arms, and two legs, though some forms of humanoid robots may model only part of the body, for example, from the waist up. Some humanoid robot also have heads designed to replicate human facial features such as eyes and mouths. Androids are humanoid robots built to aesthetically resemble humans. It is easier for bipedal robots to exist in a human oriented environment than for other types of robots. Furthermore, dynamic walking is more efficient than static walking. For a biped robot achieve dynamic balance while walking, a dynamic gait must be developed. Two different approaches to gait generation are presented
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.
Simulation And Control Of Biped Walking Robots
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Author : Thomas Buschmann
language : de
Publisher:
Release Date : 2011
Simulation And Control Of Biped Walking Robots written by Thomas Buschmann and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011 with categories.
Climbing And Walking Robots And The Support Technologies For Mobile Machines
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Author : Phillippe Bidaud
language : en
Publisher: John Wiley & Sons
Release Date : 2002-11-08
Climbing And Walking Robots And The Support Technologies For Mobile Machines written by Phillippe Bidaud 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 2002-11-08 with Technology & Engineering categories.
Robotic technology advances for a wide variety of applications Climbing and Walking Robots and the Support Technologies for Mobile Machines explores the increasing interest in real-world robotics and the surge in research and invention it has inspired. Featuring the latest advances from leading robotics labs around the globe, this book presents solutions for perennial challenges in robotics and suggests directions for future research. With applications ranging from personal services and entertainment to emergency rescue and extreme environment intervention, the groundbreaking work presented here provides a glimpse of the future.
Dynamic Stabilisation Of The Biped Lucy Powered By Actuators With Controllable Stiffness
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Author : Bram Vanderborght
language : en
Publisher: Springer Science & Business Media
Release Date : 2010-10-04
Dynamic Stabilisation Of The Biped Lucy Powered By Actuators With Controllable Stiffness written by Bram Vanderborght 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 2010-10-04 with Technology & Engineering categories.
This book reports on the developments of the bipedal walking robot Lucy. Special about it is that the biped is not actuated with the classical electrical drives but with pleated pneumatic artificial muscles. In an antagonistic setup of such muscles both the torque and the compliance are controllable. From human walking there is evidence that joint compliance plays an important role in energy efficient walking and running. Moreover pneumatic artificial muscles have a high power to weight ratio and can be coupled directly without complex gearing mechanism, which can be beneficial towards legged mechanisms. Additionally, they have the capability of absorbing impact shocks and store and release motion energy. This book gives a complete description of Lucy: the hardware, the electronics and the software. A hybrid simulation program, combining the robot dynamics and muscle/valve thermodynamics, has been written to evaluate control strategies before implementing them in the real biped.
Exploiting Inherent Robustness And Natural Dynamics In The Control Of Bipedal Walking Robots
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Author : Jerry E. Pratt
language : en
Publisher:
Release Date : 2000
Exploiting Inherent Robustness And Natural Dynamics In The Control Of Bipedal Walking Robots written by Jerry E. Pratt and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2000 with categories.
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.