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Feedback Control of Dynamic Bipedal Robot Locomotion (Hardcover)
Loot Price: R6,756
Discovery Miles 67 560
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Feedback Control of Dynamic Bipedal Robot Locomotion (Hardcover)
Series: Automation and Control Engineering
Expected to ship within 12 - 17 working days
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Total price: R6,776
Discovery Miles: 67 760
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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(R) 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.
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