Toward a Coherent Framework for the Control of Planar Biped Locomotion PDF Download
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Author: Eric R. Westervelt
Publisher:
ISBN:
Category :
Languages : en
Pages : 494
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Book Description
Author: Eric R. Westervelt
Publisher:
ISBN:
Category :
Languages : en
Pages : 494
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Book Description
Author: Carmel Leslie Golliday
Publisher:
ISBN:
Category : Human engineering
Languages : en
Pages : 750
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Book Description
Author: Maziar Ahmad Sharbafi
Publisher: Butterworth-Heinemann
ISBN: 0128037741
Category : Technology & Engineering
Languages : en
Pages : 698
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Book Description
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
Author: Jaime Arcos Legarda
Publisher: Universidad Nacional de Colombia
ISBN: 9587949641
Category : Business & Economics
Languages : en
Pages : 134
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Book Description
This dissertation contributes to the theoretical and experimental foundation of disturbance rejection control in dynamic bipedal robots. Disturbances produced by model uncertainties and external disturbances are studied as lumped signals that can be rejected through feedback control techniques. The disturbance rejection problem is addressed with the design of trajectory tracking controllers working complementary with an adaptive reference trajectory generator. Two trajectory tracking control strategies were developed: (i) a novel model-based active disturbance rejection control and (ii) a robust multivariable generalized proportional integral control. The methodology adopted allows the design of trajectory generators with the ability to produce periodic stable gait patterns and reject disturbances through the use of an adaptive reference trajectory generator. A discrete control action resets the gait trajectory references after the impact produced by the robot's support-leg exchange in order to maintain a zero tracking error in the controlled joints. In addition, an extended hybrid zero dynamics is introduced to examine the periodic stability of the system with the use of a lower-dimensional representation of the full hybrid dynamics with uncertainties. A physical bipedal robot testbed, named as Saurian, was fabricated for validation purposes. Numerical simulation and physical experiments show the robustness of the proposed control strategies against external disturbances and model uncertainties that could affect both the swing motion phase and the support-leg exchange.
Author: Eric R. Westervelt
Publisher: CRC Press
ISBN: 1420053736
Category : Technology & Engineering
Languages : en
Pages : 528
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Book Description
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.
Author: Luís Paulo Reis
Publisher: Springer
ISBN: 3319271490
Category : Computers
Languages : en
Pages : 760
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Book Description
This book contains a selection of papers accepted for presentation and discussion at ROBOT 2015: Second Iberian Robotics Conference, held in Lisbon, Portugal, November 19th-21th, 2015. ROBOT 2015 is part of a series of conferences that are a joint organization of SPR – “Sociedade Portuguesa de Robótica/ Portuguese Society for Robotics”, SEIDROB – Sociedad Española para la Investigación y Desarrollo de la Robótica/ Spanish Society for Research and Development in Robotics and CEA-GTRob – Grupo Temático de Robótica/ Robotics Thematic Group. The conference organization had also the collaboration of several universities and research institutes, including: University of Minho, University of Porto, University of Lisbon, Polytechnic Institute of Porto, University of Aveiro, University of Zaragoza, University of Malaga, LIACC, INESC-TEC and LARSyS. Robot 2015 was focussed on the Robotics scientific and technological activities in the Iberian Peninsula, although open to research and delegates from other countries. The conference featured 19 special sessions, plus a main/general robotics track. The special sessions were about: Agricultural Robotics and Field Automation; Autonomous Driving and Driver Assistance Systems; Communication Aware Robotics; Environmental Robotics; Social Robotics: Intelligent and Adaptable AAL Systems; Future Industrial Robotics Systems; Legged Locomotion Robots; Rehabilitation and Assistive Robotics; Robotic Applications in Art and Architecture; Surgical Robotics; Urban Robotics; Visual Perception for Autonomous Robots; Machine Learning in Robotics; Simulation and Competitions in Robotics; Educational Robotics; Visual Maps in Robotics; Control and Planning in Aerial Robotics, the XVI edition of the Workshop on Physical Agents and a Special Session on Technological Transfer and Innovation.
Author: M. Osman Tokhi
Publisher: Springer Science & Business Media
ISBN: 9783540264132
Category : Computers
Languages : en
Pages : 1146
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Book Description
The interest in climbing and walking robots (CLAWAR) has intensified in recent years, and novel solutions for complex and very diverse applications have been anticipated by means of significant progress in this area of robotics. The shift of robotics from manufacturing to services is clearly gaining pace as witnessed by the growth in activities in the CLAWAR area. Moreover, the amalgamation of original ideas and related innovations, search for new potential applications and the use of state of the art support technologies indicate that important steps are likely in the near future and the results could have a significant beneficial socio-economic impact. This book reports on state of the art latest research and development findings and results presented in the CLAWAR 2005 Conference. These are presented in 131 technical articles by authors from 27 countries worldwide. The book is structured into 21 sections, which include some of the traditional topics featured in previous CLAWAR conferences with a set of new topics such as bioengineering, flexible manipulators, personal assistance applications, non-destructive test applications, security and surveillance applications and space applications of robotics. The editors are grateful to colleagues within the committee structure of the CLAWAR 2005 for their help in the review process of the articles and their support throughout this project.
Author: Miomir Vukobratovic
Publisher: Springer Science & Business Media
ISBN: 3642830064
Category : Technology & Engineering
Languages : en
Pages : 366
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Book Description
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.
Author:
Publisher:
ISBN:
Category :
Languages : en
Pages :
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The purpose of this thesis is to contribute to the development of dynamic modeling and control of bipedal locomotion. The locomotion aimed to be realized in this thesis is walking on a flat horizontal surface in the sagittal plane. Firstly, a planar five-link biped robot, which consists of an upper body and two legs, having five degrees of freedom is modeled. The equations of motion are then developed which describe the motion of the bipedal system. The walking motion includes the single support phase, the impact of the free end of the swing leg with the walking surface, and the support end exchange at the end of each step. Secondly, a systematic approach is presented to determine the joint angle profiles from a set of constraint functions for the biped to walk on a flat horizontal surface. Five new constraint functions are proposed in terms of the physical coherent parameters, one of which is to keep the total mechanical energy of the biped at constant. This constraint is meant to test the hypothesis that, given only potential energy at the beginning of the step, the swing leg can be carried over by gravity. (Abstract shortened by UMI.).
Author: Diego Torricelli
Publisher: Frontiers Media SA
ISBN: 2889632709
Category :
Languages : en
Pages : 217
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Book Description
