Biped Locomotion: Dynamics, Stability, Control and Application

ISBN-13: 9783642830082 / Angielski / Miękka / 2011 / 349 str.

Miomir Vukobratovic;Branislav Borovac;Dusan Surla

Opis

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.

Spis treści

1: Dynamics of Biped Locomotion.- 1.1. Introduction.- 1.2. A brief survey of mathematical models used to study the effects arrising with locomotion systems.- 1.3. Artificial gait synthesis — a method based on prescribed synergy.- 1.3.1. Single-support phase.- 1.3.2. Double-support phase.- References.- Appendix Description of the Mechanical Model Using Euler’s Angles.- 2: Synthesis of Nominal Dynamics.- 2.1. Introduction.- 2.2. Modelling the robotic system dynamics.- 2.3. The method based on fundamental theorems of mechanics as a tool for forming dynamic equations of motion for open kinematic chain.- 2.4. Forming dynamic equations of motion for comple.- kinematic chains.- 2.5. Closed kinematic chains.- 2.6. Synthesis of functional movements.- 2.7. The prescribed part of dynamics.- 2.8. Numerical results.- References.- Appendix - Programme LOCDYN.- 3: Control and Stability.- 3.1. Introduction.- 3.2. Survey of results on biped posture and locomotion control and stability analysis.- 3.2.1. Postural control.- 3.2.2. Gait control.- 3.3. Model of the system.- 3.4. Control synthesis.- 3.4.1. Some notes on biped control synthesis.- 3.4.2. Synthesis of control with limited accelerations.- 3.4.3. Synthesis of global control with respect to ZMP position.- 3.4.4. Simulation of walk for a specific biped structure.- 3.5. Stability analysis.- 3.5.1. Modelling of composite subsystems.- 3.5.2. Stability analysis.- 3.5.3. Stability analysis for a specific biped structure.- 3.6. Conclusion.- References.- 4: Realizations of Anthropomorphic Mechanisms.- 4.1. Introduction.- 4.2. Exoskeletal and orthotic systems.- 4.2.1. Introduction.- 4.2.2. Development of active exoskeletons for rehabilitation.- 4.2.3. Modular active orthosis - the “active suit”.- 4.2.4. Other biped realizations.- 4.3. Hybrid joint concept.- 4.3.1. General remarks.- 4.3.2. Efferent functional electrical stimulation model.- 4.3.3. The hybrid system model.- 4.3.4. Simulation results.- 4.4. Legged robots.- References.