Bipedal Robots: Modeling, Design and Walking Synthesis (Cam Control Systems, Robotics and Manufacturing) pdf epub fb2

Bipedal Robots: Modeling, Design and Walking Synthesis (Cam Control Systems, Robotics and Manufacturing) by Christine Chevallereau, Guy Bessonnet, Gabriel Abba, Yannick Aoustin epub fb2 djvu

Author: Christine Chevallereau, Guy Bessonnet, Gabriel Abba, Yannick Aoustin
Title: Bipedal Robots: Modeling, Design and Walking Synthesis (Cam Control Systems, Robotics and Manufacturing)
ISBN: 1848210760
ISBN13: 978-1848210769
Other Formats: mbr docx txt doc
Pages: 328 pages
Publisher: Wiley-ISTE; 1 edition (January 20, 2009)
Language: English
Size EPUB version: 1351 kb
Size FB2 version: 1745 kb
Category: Engineering & Transportation
Subcategory: Engineering

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.

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