Feedback Control of Dynamic Bipedal Robot Locomotion

ISBN-13: 9781420053722 / Angielski / Twarda / 2007 / 528 str.

Eric R. Westervelt; Jessy W. Grizzle; Christine Chevallereau

Opis

< P> 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.< /P>

Spis treści

PRELIMINARIES
Introduction
Two Test Beds for Theory
MODELING, ANALYSIS, AND CONTROL OF ROBOTS WITH PASSIVE POINT FEET
Modeling of Planar Bipedal Robots with Point Feet
Periodic Orbits and Poincaré Return Maps
Zero Dynamics of Bipedal Locomotion
Systematic Design of Within-Stride Feedback Controllers for Walking
Systematic Design of Event-Based Feedback Controllers for Walking
Experimental Results for Walking
Running with Point Feet
WALKING WITH FEET
Walking with Feet and Actuated Ankles
Directly Controlling the Foot Rotation Indicator Point
APPENDICES
Appendix A: Getting Started
Appendix B: Essential Technical Background
Appendix C: Proofs and Technical Details
Appendix D: Derivation of the Equations of Motion for Three-Dimensional Mechanisms
Appendix E: Single Support Equations of Motion of RABBIT
NOMENCLATURE
END NOTES
REFERENCES
INDEX
SUPPLEMENTAL INDICES

O autorze

Eric R. Westervelt, Jessy W. Grizzle, Christine Chevallereau, Jun Ho Choi, Benjamin Morris