Feedback Control of Dynamic Bipedal Robot Locomotion
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:
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.
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Two Test Beds for Theory
Modeling of Planar Bipedal Robots with Point Feet
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angle angular momentum assumed asymptotically stable average walking rate basin of attraction Bezier polynomials biped bipedal robot center of mass Chapter closed-loop system computed configuration control design control law convergence corresponding decoupling matrix defined denote differential equation ERNIE event-based evolution exists exponentially stable feedback controller Figure fixed point flight phase FRI point fully actuated phase ground hence HSH2 hybrid model hybrid zero dynamics impact event impact map impact model impulse effects inertia inertial frame invariant invertible joint kinematic chain kinetic energy leg end limit cycle linear open kinematic chain optimization parameter periodic orbit phase zero dynamics planar Poincare return map Poincare sections position potential energy RABBIT restricted Poincare map simulation solution stance foot stance leg end stance phase submanifold swing leg system with impulse Theorem torque torso trajectory transition underactuated phase velocity versus virtual constraints walking motion walking surface zero dynamics manifold