Overview

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.

Full Product Details

Author:   Miomir Vukobratovic ,  Branislav Borovac ,  Dusan Surla ,  Dragan Stokic
Publisher:   Springer-Verlag Berlin and Heidelberg GmbH & Co. KG
Imprint:   Springer-Verlag Berlin and Heidelberg GmbH & Co. K
Edition:   Softcover reprint of the original 1st ed. 1990
Volume:   7
Dimensions:   Width: 17.00cm , Height: 2.00cm , Length: 24.40cm
Weight:   0.640kg
ISBN:  

9783642830082

ISBN 10:   3642830080
Pages:   349
Publication Date:   16 December 2011
Audience:   Professional and scholarly ,  Professional & Vocational
Format:   Paperback
Publisher's Status:   Active
Availability:   Manufactured on demand  
We will order this item for you from a manufactured on demand supplier.

Table of Contents

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.- 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.- 3.3. Model of the system.- 3.4. Control synthesis.- 3.5. Stability analysis.- 3.6. Conclusion.- References.- 4: Realizations of Anthropomorphic Mechanisms.- 4.1. Introduction.- 4.2. Exoskeletal and orthotic systems.- 4.3. Hybrid joint concept.- 4.4. Legged robots.- References.

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