Walking machines have potential advantages over traditional
vehicles, and they have already succeeded in carrying out many
tasks that wheeled or tracked robots cannot handle. Nevertheless,
their use in industry and services is currently limited in scope.
Quadrupedal Locomotion: An Introduction to the Control of
Four-legged Robots brings together some of the methods and
techniques in this emerging field that have recently been developed
in an effort to deal with the problems that currently prevent
legged robots being more widely used for real applications.
Quadrupedal Locomotion: An Introduction to the Control of
Four-legged Robots illustrates the appropriate algorithms and
methods through a discussion of simulation and experiments that
have been tested on a real machine, the SILO4 walking robot. Data
from the experiments can be found on-line at http:
//www.iai.csic.es/users/silo4/. This book is divided into two
parts: the first part, Walking Measurements and Algorithms,
introduces the historical development of quadrupeds, their
advantages/disadvantages and potential uses, and the trade-off
between quadrupeds and hexapods. The second part, Control
Techniques, concentrates on general techniques that have been
specifically applied to legged robots, including kinematic and
dynamic models, soft computing techniques to increase speed,
virtual sensors that help reduce the electronic burden of the
machine, and software simulators to study and test certain robot
properties.
As the first book to focus specifically on quadrupeds,
Quadrupedal Locomotion: An Introduction to the Control of
Four-legged Robots will be suitable for researchers, postgraduates
and senior undergraduates in the field of robotics as well as
engineers working in industry.
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