By Eric R. Westervelt, Jessy W. Grizzle, Christine Chevallereau, Jun Ho Choi, Benjamin Morris
Bipedal locomotion is likely one of the such a lot tough demanding situations up to speed engineering. so much books deal with the topic from a quasi-static point of view, overlooking the hybrid nature of bipedal mechanics. suggestions keep watch over of Dynamic Bipedal robotic Locomotion is the 1st ebook to give a accomplished and mathematically sound therapy of suggestions layout for attaining sturdy, agile, and effective locomotion in bipedal robots.In this certain and groundbreaking treatise, professional authors lead you systematically via each step of the method, including:Mathematical modeling of strolling and operating gaits in planar robotsAnalysis of periodic orbits in hybrid systemsDesign and research of suggestions structures for attaining solid periodic motionsAlgorithms for synthesizing suggestions controllersDetailed simulation examplesExperimental implementations on bipedal attempt bedsThe beauty of the authors' method is clear within the marriage of regulate idea and mechanics, uniting control-based presentation and mathematical customized with a mechanics-based method of the matter and computational rendering. Concrete examples and various illustrations supplement and make clear the mathematical dialogue. A helping site bargains hyperlinks to movies of a number of experiments besides MATLAB® code for numerous of the types. This unique e-book builds a fantastic figuring out of the theoretical and functional elements of really dynamic locomotion in planar bipedal robots.
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Additional info for Feedback Control of Dynamic Bipedal Robot Locomotion (Automation and Control Engineering)
Thus, dynamic optimization  was used to compute optimal walking and running trajectories, assuming nominal values for the mechanical parameters as well as for the motor characteristics, speciﬁcally their torque and speed limits. Reaction forces at the leg ends were calculated to check that all contact conditions were met (the stance leg remains in contact with the walking surface and does not slip). These calculations provided for each joint the torque-speed curve as a function of walking and running speed, as illustrated in Figs.
RABBIT’s lateral stabilization is ensured by a rotating bar, and thus only 2D motion in the sagittal plane is considered. Except for this limitation, the prototype captures the main diﬃculties inherent in this type of nonlinear system: underactuation (no feet), variable structure (the state dimension varies as a function of the motion phase), and state jumps (sudden state variations resulting from impacts with the ground). Asymptotically stable locomotion is thus only achievable through a detailed study of the robot’s full dynamics, including impact phases.
With these assumptions, static, or quasi-static walking is nearly impossible,7 thus requiring any walking to 7 The only class of gaits where static walking would be possible is one where the biped’s COM is over the stance leg end for the entire phase of single support and the double support © 2007 by Taylor & Francis Group, LLC 14 Feedback Control of Dynamic Bipedal Robot Locomotion be dynamic. The model for the swing phase of walking is therefore that of an underactuated mechanical system. Developing controllers to regulate walking in a robot without feet is interesting for at least two reasons.
Feedback Control of Dynamic Bipedal Robot Locomotion (Automation and Control Engineering) by Eric R. Westervelt, Jessy W. Grizzle, Christine Chevallereau, Jun Ho Choi, Benjamin Morris