Design And Control Of A Bipedal Robot

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Bipedal Robots

Author : Christine Chevallereau
Publisher : John Wiley & Sons
ISBN 13 : 1118622979
Total Pages : 249 pages
Book Rating : 4.1/5 (186 download)

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Book Synopsis Bipedal Robots by : Christine Chevallereau

Download or read book Bipedal Robots written by Christine Chevallereau and published by John Wiley & Sons. This book was released on 2013-03-01 with total page 249 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents various techniques to carry out the gait modeling, the gait patterns synthesis, and the control of biped robots. Some general information on the human walking, a presentation of the current experimental biped robots, and the application of walking bipeds are given. The modeling is based on the decomposition on a walking step into different sub-phases depending on the way each foot stands into contact on the ground. The robot design is dealt with according to the mass repartition and the choice of the actuators. Different ways to generate walking patterns are considered, such as passive walking and gait synthesis performed using optimization technique. Control based on the robot modeling, neural network methods, or intuitive approaches are presented. The unilaterality of contact is dealt with using on-line adaptation of the desired motion.

Feedback Control of Dynamic Bipedal Robot Locomotion

Author : Eric R. Westervelt
Publisher : CRC Press
ISBN 13 : 1420053736
Total Pages : 528 pages
Book Rating : 4.4/5 (2 download)

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Book Synopsis Feedback Control of Dynamic Bipedal Robot Locomotion by : Eric R. Westervelt

Download or read book Feedback Control of Dynamic Bipedal Robot Locomotion written by Eric R. Westervelt and published by CRC Press. This book was released on 2018-10-03 with total page 528 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Adaptive Mobile Robotics

Author : Abul K. M. Azad
Publisher : World Scientific
ISBN 13 : 9814415944
Total Pages : 904 pages
Book Rating : 4.8/5 (144 download)

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Book Synopsis Adaptive Mobile Robotics by : Abul K. M. Azad

Download or read book Adaptive Mobile Robotics written by Abul K. M. Azad and published by World Scientific. This book was released on 2012 with total page 904 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2012 conference. Robots are no longer confined to industrial and manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.

Biped Locomotion

Author : Miomir Vukobratovic
Publisher : Springer Science & Business Media
ISBN 13 : 3642830064
Total Pages : 366 pages
Book Rating : 4.6/5 (428 download)

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Book Synopsis Biped Locomotion by : Miomir Vukobratovic

Download or read book Biped Locomotion written by Miomir Vukobratovic and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 366 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Design and Operation of Human Locomotion Systems

Author : Marco Cecarelli
Publisher : Academic Press
ISBN 13 : 0128156597
Total Pages : 172 pages
Book Rating : 4.1/5 (281 download)

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Book Synopsis Design and Operation of Human Locomotion Systems by : Marco Cecarelli

Download or read book Design and Operation of Human Locomotion Systems written by Marco Cecarelli and published by Academic Press. This book was released on 2019-09-18 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt: Design and Operation of Locomotion Systems examines recent advances in locomotion systems with multidisciplinary viewpoints, including mechanical design, biomechanics, control and computer science. In particular, the book addresses the specifications and requirements needed to achieve the proper design of locomotion systems. The book provides insights on the gait analysis of humans by considering image capture systems. It also studies human locomotion from a rehabilitation viewpoint and outlines the design and operation of exoskeletons, both for rehabilitation and human performance enhancement tasks. Additionally, the book content ranges from fundamental theory and mathematical formulations, to practical implementations and experimental testing procedures.

Embedded Robotics

Author : Thomas Bräunl
Publisher : Springer Science & Business Media
ISBN 13 : 3540705341
Total Pages : 536 pages
Book Rating : 4.5/5 (47 download)

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Book Synopsis Embedded Robotics by : Thomas Bräunl

Download or read book Embedded Robotics written by Thomas Bräunl and published by Springer Science & Business Media. This book was released on 2008-09-20 with total page 536 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a unique examination of mobile robots and embedded systems, from introductory to intermediate level. It is structured in three parts, dealing with Embedded Systems (hardware and software design, actuators, sensors, PID control, multitasking), Mobile Robot Design (driving, balancing, walking, and flying robots), and Mobile Robot Applications (mapping, robot soccer, genetic algorithms, neural networks, behavior-based systems, and simulation). The book is written as a text for courses in computer science, computer engineering, IT, electronic engineering, and mechatronics, as well as a guide for robot hobbyists and researchers.

Advances in VLSI, Signal Processing, Power Electronics, IoT, Communication and Embedded Systems

Author : Shubhakar Kalya
Publisher : Springer Nature
ISBN 13 : 9811604436
Total Pages : 457 pages
Book Rating : 4.8/5 (116 download)

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Book Synopsis Advances in VLSI, Signal Processing, Power Electronics, IoT, Communication and Embedded Systems by : Shubhakar Kalya

Download or read book Advances in VLSI, Signal Processing, Power Electronics, IoT, Communication and Embedded Systems written by Shubhakar Kalya and published by Springer Nature. This book was released on 2021-04-10 with total page 457 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book comprises select peer-reviewed papers from the International Conference on VLSI, Signal Processing, Power Electronics, IoT, Communication and Embedded Systems (VSPICE-2020). The book provides insights into various aspects of the emerging fields in the areas Electronics and Communication Engineering as a holistic approach. The various topics covered in this book include VLSI, embedded systems, signal processing, communication, power electronics and internet of things. This book mainly focuses on the most recent innovations, trends, concerns and practical challenges and their solutions. This book will be useful for academicians, professionals and researchers in the area of electronics and communications and electrical engineering.

International Symposium on History of Machines and Mechanisms

Author : Marco Ceccarelli
Publisher : Springer Science & Business Media
ISBN 13 : 1402022042
Total Pages : 408 pages
Book Rating : 4.4/5 (2 download)

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Book Synopsis International Symposium on History of Machines and Mechanisms by : Marco Ceccarelli

Download or read book International Symposium on History of Machines and Mechanisms written by Marco Ceccarelli and published by Springer Science & Business Media. This book was released on 2007-11-23 with total page 408 pages. Available in PDF, EPUB and Kindle. Book excerpt: The HMM2004 International Symposium on History of Machines and Mechanisms is the second event of a series that has been started in 2000 as main activity of the IFToMM Permanent Commission for History of MMS, Mechanism and Machine Science. The aim of the HMM Symposium is to be a forum to exchange views, opinions, and experiences on History of MMS from technical viewpoints in order to track the past but also to look at future developments in MMS. The HMM Symposium Series is devoted to the technical aspects of historical deve- pments and therefore it has been addressed mainly to the IFToMM Community. In fact, most the authors of the contributed papers are experts in MMS and related topics. This year HMM Symposium came back to Cassino, after the challenging first event in 2000. The HMM2004 International Symposium on History of Machines and Mechanisms was held at the University of Cassino, Italy, from 12 to 15 May 2004. These Proceedings contain 29 papers by authors from all around the world. These papers cover the wide field of the History of Mechanical Engineering and particularly the History of MMS. The contributions address mainly technical aspects of historical developments of Machines and Mechanisms. History of IFToMM, the International Federation for the Promotion of Mechanism and Machine Science is also outlined through the historical activities of some of its Commissions.

Humanoid Robotics: A Reference

Author : Prahlad Vadakkepat
Publisher : Springer
ISBN 13 : 9789400760455
Total Pages : 0 pages
Book Rating : 4.7/5 (64 download)

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Book Synopsis Humanoid Robotics: A Reference by : Prahlad Vadakkepat

Download or read book Humanoid Robotics: A Reference written by Prahlad Vadakkepat and published by Springer. This book was released on 2017-02-14 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Humanoid Robotics provides a comprehensive compilation of developments in the conceptualization, design and development of humanoid robots and related technologies. Human beings have built the environment they occupy (living spaces, instruments and vehicles) to suit two-legged systems. Building systems, especially in robotics, that are compatible with the well-established, human-based surroundings and which could naturally interact with humans is an ultimate goal for all researches and engineers. Humanoid Robots are systems (i.e. robots) which mimic human behavior. Humanoids provide a platform to study the construction of systems that behave and interact like humans. A broad range of applications ranging from daily housework to complex medical surgery, deep ocean exploration, and other potentially dangerous tasks are possible using humanoids. In addition, the study of humanoid robotics provides a platform to understand the mechanisms and offers a physical visual of how humans interact, think, and react with the surroundings and how such behaviors could be reassembled and reconstructed. Currently, the most challenging issue with bipedal humanoids is to make them balance on two legs, The purportedly simple act of finding the best balance that enables easy walking, jumping and running requires some of the most sophisticated development of robotic systems- those that will ultimately mimic fully the diversity and dexterity of human beings. Other typical human-like interactions such as complex thought and conversations on the other hand, also pose barriers for the development of humanoids because we are yet to understand fully the way in which we humans interact with our environment and consequently to replicate this in humanoids.

Bioinspired Legged Locomotion

Author : Maziar Ahmad Sharbafi
Publisher : Butterworth-Heinemann
ISBN 13 : 0128037741
Total Pages : 698 pages
Book Rating : 4.1/5 (28 download)

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Book Synopsis Bioinspired Legged Locomotion by : Maziar Ahmad Sharbafi

Download or read book Bioinspired Legged Locomotion written by Maziar Ahmad Sharbafi and published by Butterworth-Heinemann. This book was released on 2017-11-21 with total page 698 pages. Available in PDF, EPUB and Kindle. Book excerpt: Bioinspired Legged Locomotion: Models, Concepts, Control and Applications explores the universe of legged robots, bringing in perspectives from engineering, biology, motion science, and medicine to provide a comprehensive overview of the field. With comprehensive coverage, each chapter brings outlines, and an abstract, introduction, new developments, and a summary. Beginning with bio-inspired locomotion concepts, the book's editors present a thorough review of current literature that is followed by a more detailed view of bouncing, swinging, and balancing, the three fundamental sub functions of locomotion. This part is closed with a presentation of conceptual models for locomotion. Next, the book explores bio-inspired body design, discussing the concepts of motion control, stability, efficiency, and robustness. The morphology of legged robots follows this discussion, including biped and quadruped designs. Finally, a section on high-level control and applications discusses neuromuscular models, closing the book with examples of applications and discussions of performance, efficiency, and robustness. At the end, the editors share their perspective on the future directions of each area, presenting state-of-the-art knowledge on the subject using a structured and consistent approach that will help researchers in both academia and industry formulate a better understanding of bioinspired legged robotic locomotion and quickly apply the concepts in research or products. - Presents state-of-the-art control approaches with biological relevance - Provides a thorough understanding of the principles of organization of biological locomotion - Teaches the organization of complex systems based on low-dimensional motion concepts/control - Acts as a guideline reference for future robots/assistive devices with legged architecture - Includes a selective bibliography on the most relevant published articles

Bio-Inspired Robotics

Author : Toshio Fukuda
Publisher : MDPI
ISBN 13 : 303897045X
Total Pages : 555 pages
Book Rating : 4.0/5 (389 download)

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Book Synopsis Bio-Inspired Robotics by : Toshio Fukuda

Download or read book Bio-Inspired Robotics written by Toshio Fukuda and published by MDPI. This book was released on 2018-11-07 with total page 555 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is a printed edition of the Special Issue "Bio-Inspired Robotics" that was published in Applied Sciences

Neurobiology of Motor Control

Author : Scott L. Hooper
Publisher : John Wiley & Sons
ISBN 13 : 1118873343
Total Pages : 512 pages
Book Rating : 4.1/5 (188 download)

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Book Synopsis Neurobiology of Motor Control by : Scott L. Hooper

Download or read book Neurobiology of Motor Control written by Scott L. Hooper and published by John Wiley & Sons. This book was released on 2017-06-12 with total page 512 pages. Available in PDF, EPUB and Kindle. Book excerpt: A multi-disciplinary look at the current state of knowledge regarding motor control and movement—from molecular biology to robotics The last two decades have seen a dramatic increase in the number of sophisticated tools and methodologies for exploring motor control and movement. Multi-unit recordings, molecular neurogenetics, computer simulation, and new scientific approaches for studying how muscles and body anatomy transform motor neuron activity into movement have helped revolutionize the field. Neurobiology of Motor Control brings together contributions from an interdisciplinary group of experts to provide a review of the current state of knowledge about the initiation and execution of movement, as well as the latest methods and tools for investigating them. The book ranges from the findings of basic scientists studying model organisms such as mollusks and Drosophila, to biomedical researchers investigating vertebrate motor production to neuroengineers working to develop robotic and smart prostheses technologies. Following foundational chapters on current molecular biological techniques, neuronal ensemble recording, and computer simulation, it explores a broad range of related topics, including the evolution of motor systems, directed targeted movements, plasticity and learning, and robotics. Explores motor control and movement in a wide variety of organisms, from simple invertebrates to human beings Offers concise summaries of motor control systems across a variety of animals and movement types Explores an array of tools and methodologies, including electrophysiological techniques, neurogenic and molecular techniques, large ensemble recordings, and computational methods Considers unresolved questions and how current scientific advances may be used to solve them going forward Written specifically to encourage interdisciplinary understanding and collaboration, and offering the most wide-ranging, timely, and comprehensive look at the science of motor control and movement currently available, Neurobiology of Motor Control is a must-read for all who study movement production and the neurobiological basis of movement—from molecular biologists to roboticists.

Adaptive Motion of Animals and Machines

Author : Hiroshi Kimura
Publisher : Springer Science & Business Media
ISBN 13 : 4431313818
Total Pages : 298 pages
Book Rating : 4.4/5 (313 download)

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Book Synopsis Adaptive Motion of Animals and Machines by : Hiroshi Kimura

Download or read book Adaptive Motion of Animals and Machines written by Hiroshi Kimura and published by Springer Science & Business Media. This book was released on 2006-07-28 with total page 298 pages. Available in PDF, EPUB and Kindle. Book excerpt: • Motivation It is our dream to understand the principles of animals’ remarkable ability for adaptive motion and to transfer such abilities to a robot. Up to now, mechanisms for generation and control of stereotyped motions and adaptive motions in well-known simple environments have been formulated to some extentandsuccessfullyappliedtorobots.However,principlesofadaptationto variousenvironmentshavenotyetbeenclari?ed,andautonomousadaptation remains unsolved as a seriously di?cult problem in robotics. Apparently, the ability of animals and robots to adapt in a real world cannot be explained or realized by one single function in a control system and mechanism. That is, adaptation in motion is induced at every level from thecentralnervoussystemtothemusculoskeletalsystem.Thus,weorganized the International Symposium on Adaptive Motion in Animals and Machines(AMAM)forscientistsandengineersconcernedwithadaptation onvariouslevelstobebroughttogethertodiscussprinciplesateachleveland to investigate principles governing total systems. • History AMAM started in Montreal (Canada) in August 2000. It was organized by H. Kimura (Japan), H. Witte (Germany), G. Taga (Japan), and K. Osuka (Japan), who had agreed that having a small symposium on motion control, with people from several ?elds coming together to discuss speci?c issues, was worthwhile. Those four organizing committee members determined the scope of AMAM as follows.

Introduction to Humanoid Robotics

Author : Shuuji Kajita
Publisher : Springer
ISBN 13 : 364254536X
Total Pages : 232 pages
Book Rating : 4.6/5 (425 download)

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Book Synopsis Introduction to Humanoid Robotics by : Shuuji Kajita

Download or read book Introduction to Humanoid Robotics written by Shuuji Kajita and published by Springer. This book was released on 2014-07-15 with total page 232 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is for researchers, engineers, and students who are willing to understand how humanoid robots move and be controlled. The book starts with an overview of the humanoid robotics research history and state of the art. Then it explains the required mathematics and physics such as kinematics of multi-body system, Zero-Moment Point (ZMP) and its relationship with body motion. Biped walking control is discussed in depth, since it is one of the main interests of humanoid robotics. Various topics of the whole body motion generation are also discussed. Finally multi-body dynamics is presented to simulate the complete dynamic behavior of a humanoid robot. Throughout the book, Matlab codes are shown to test the algorithms and to help the reader ́s understanding.

Advances in Mobile Robotics

Author :
Publisher : World Scientific
ISBN 13 : 9812835776
Total Pages : 1309 pages
Book Rating : 4.8/5 (128 download)

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Book Synopsis Advances in Mobile Robotics by :

Download or read book Advances in Mobile Robotics written by and published by World Scientific. This book was released on 2008 with total page 1309 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. It contains peer-reviewed articles presented at the CLAWAR 2008 conference. Robots are no longer confined to industrial manufacturing environments; rather, a great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high-profile international event, acts as a platform for dissemination of research and development findings to address the current interest in mobile robotics in meeting the needs of mankind in various sectors of the society. These include personal care, public health, and services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general, and in mobile robotics specifically.

Theory of Applied Robotics

Author : Reza N. Jazar
Publisher : Springer Science & Business Media
ISBN 13 : 1441917500
Total Pages : 889 pages
Book Rating : 4.4/5 (419 download)

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Book Synopsis Theory of Applied Robotics by : Reza N. Jazar

Download or read book Theory of Applied Robotics written by Reza N. Jazar and published by Springer Science & Business Media. This book was released on 2010-06-14 with total page 889 pages. Available in PDF, EPUB and Kindle. Book excerpt: The second edition of this book would not have been possible without the comments and suggestions from students, especially those at Columbia University. Many of the new topics introduced here are a direct result of student feedback that helped refine and clarify the material. The intention of this book was to develop material that the author would have liked to have had available as a student. Theory of Applied Robotics: Kinematics, Dynamics, and Control (2nd Edition) explains robotics concepts in detail, concentrating on their practical use. Related theorems and formal proofs are provided, as are real-life applications. The second edition includes updated and expanded exercise sets and problems. New coverage includes: components and mechanisms of a robotic system with actuators, sensors and controllers, along with updated and expanded material on kinematics. New coverage is also provided in sensing and control including position sensors, speed sensors and acceleration sensors. Students, researchers, and practicing engineers alike will appreciate this user-friendly presentation of a wealth of robotics topics, most notably orientation, velocity, and forward kinematics.

Human Musculoskeletal Biomechanics

Author : Tarun Goswami
Publisher : BoD – Books on Demand
ISBN 13 : 9533076380
Total Pages : 258 pages
Book Rating : 4.5/5 (33 download)

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Book Synopsis Human Musculoskeletal Biomechanics by : Tarun Goswami

Download or read book Human Musculoskeletal Biomechanics written by Tarun Goswami and published by BoD – Books on Demand. This book was released on 2012-01-05 with total page 258 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book covers many aspects of human musculoskeletal biomechanics. As the title represents, aspects of forces, motion, kinetics, kinematics, deformation, stress, and strain are examined for a range of topics such as human muscles, skeleton, and vascular biomechanics independently or in the presence of devices. Topics range from image processing to interpret range of motion and/or diseases, to subject specific temporomandibular joint, spinal units, braces to control scoliosis, hand functions, spine anthropometric analyses along with finite element analyses. Therefore, this book will be valuable to students at introductory level to researchers at MS and PhD level searching for science of specific muscle/vascular to skeletal biomechanics. This book will be an ideal text to keep for graduate students in biomedical engineering since it is available for free, students may want to make use of this opportunity. Those that are interested to participate in the future edition of this book, on the same topic, as a contributor please feel free to contact the author.