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Author : Johannes Mayr
Publisher :
ISBN 13 : 9783990338544
Total Pages : pages
Book Rating : 4.3/5 (385 download)
Download or read book Development and Control of a Modular Bipedal Walking Robot written by Johannes Mayr and published by . This book was released on 2015 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Christine Chevallereau
Publisher : John Wiley & Sons
ISBN 13 : 1118622979
Total Pages : 249 pages
Book Rating : 4.1/5 (186 download)
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.
Author : Vincent Duindam
Publisher : Springer Science & Business Media
ISBN 13 : 3540899170
Total Pages : 219 pages
Book Rating : 4.5/5 (48 download)
Download or read book Modeling and Control for Efficient Bipedal Walking Robots written by Vincent Duindam and published by Springer Science & Business Media. This book was released on 2009-01-17 with total page 219 pages. Available in PDF, EPUB and Kindle. Book excerpt: By the dawn of the new millennium, robotics has undergone a major tra- formation in scope and dimensions. This expansion has been brought about bythematurityofthe?eldandtheadvancesinitsrelatedtechnologies.From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities,providingsupportinservices,entertainment,education,heal- care, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across - verse researchareas and scienti?c disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are pr- ing an abundant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their signi?cance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing ?eld.
Author : Kishan Kumar Bhongale Prabhakar Prasad
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (847 download)
Download or read book Control Framework for Dynamic Walking of a Bipedal Robot written by Kishan Kumar Bhongale Prabhakar Prasad and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Despite significant progress in recent years, the capabilities of today's Humanoid robots still lack behind the walking abilities of humans in terms of competence, robustness, flexibility, and speed. Furthermore, unknown environmental conditions and related constraints imposed on the robot significantly increase the complexity of locomotion control and decision making for such systems, easily making planning-based approaches intractable. Part of the reason for this is that the control of a humanoid encompasses observation, processing the observed data, and decision making in terms of locomotion gait and body pose parameters. This key information derived from observations and internal robot information finally allows calculating the appropriate signals to be fed to the actuators, which in turn move and adjust the mechanical joints with respect to the environment. The complexity of biped walking is also driven by the kinematic structure of the robot. If the robot has a large number of degrees of freedom, the parameters that can be used to affect the robustness of the robot increase along with the number of controls. This, in turn, can lead to a significant increase in computation cost in monolithic control approaches that compute gait and control for the entire kinematic mechanism. As a contribution towards the objective of developing useful walking machines, the work presented in this thesis takes a modular approach to locomotion control where the overall control task is decomposed into elements with individual subtask responsibilities. The goal here is to break the overall complexity into manageable parts by relying on the robustness and reactivity of the other modules. This thesis presents a basic overview of this approach and then focuses on the development of the parts of this approach centered around flexible gait generation. In this part it focuses on modules that address very specific problems of walking such as permitting dynamically changing step lengths, stepping frequencies, height of the body, and stance stability during the walk cycle, in order to adjust itself to the environment, prevent it from falling down, and address foothold and pace parameters provided by higher-level, environment-dependent modules. This thesis proposes a control framework that stabilizes a humanoid robot while these characteristics of the walk are changed. In the modules developed to achieve this, methods such as position control flexible walking pattern generation using parametric trajectories, and zero-moment control for reactive stabilization are used to generate a dynamically walk. The resulting controller is demonstrated using a simulated humanoid model taking into account the natural dynamics, torque limits and the model of the walking surface.
Author : Bram Vanderborght
Publisher : Springer
ISBN 13 : 3642134173
Total Pages : 290 pages
Book Rating : 4.6/5 (421 download)
Download or read book Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness written by Bram Vanderborght and published by Springer. This book was released on 2010-09-07 with total page 290 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book reports on the developments of the bipedal walking robot Lucy. Special about it is that the biped is not actuated with the classical electrical drives but with pleated pneumatic artificial muscles. In an antagonistic setup of such muscles both the torque and the compliance are controllable. From human walking there is evidence that joint compliance plays an important role in energy efficient walking and running. Moreover pneumatic artificial muscles have a high power to weight ratio and can be coupled directly without complex gearing mechanism, which can be beneficial towards legged mechanisms. Additionally, they have the capability of absorbing impact shocks and store and release motion energy. This book gives a complete description of Lucy: the hardware, the electronics and the software. A hybrid simulation program, combining the robot dynamics and muscle/valve thermodynamics, has been written to evaluate control strategies before implementing them in the real biped.
Author : Phillippe Bidaud
Publisher : John Wiley & Sons
ISBN 13 : 9781860583803
Total Pages : 1080 pages
Book Rating : 4.5/5 (838 download)
Download or read book Climbing and Walking Robots and the Support Technologies for Mobile Machines written by Phillippe Bidaud and published by John Wiley & Sons. This book was released on 2002-11-08 with total page 1080 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic technology advances for a wide variety of applications Climbing and Walking Robots and the Support Technologies for Mobile Machines explores the increasing interest in real-world robotics and the surge in research and invention it has inspired. Featuring the latest advances from leading robotics labs around the globe, this book presents solutions for perennial challenges in robotics and suggests directions for future research. With applications ranging from personal services and entertainment to emergency rescue and extreme environment intervention, the groundbreaking work presented here provides a glimpse of the future.
Author : Eric R. Westervelt
Publisher : CRC Press
ISBN 13 : 1420053736
Total Pages : 528 pages
Book Rating : 4.4/5 (2 download)
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.
Author : Armando Carlos De Pina Filho
Publisher : BoD – Books on Demand
ISBN 13 : 9533072164
Total Pages : 336 pages
Book Rating : 4.5/5 (33 download)
Download or read book Biped Robots written by Armando Carlos De Pina Filho and published by BoD – Books on Demand. This book was released on 2011-02-04 with total page 336 pages. Available in PDF, EPUB and Kindle. Book excerpt: Biped robots represent a very interesting research subject, with several particularities and scope topics, such as: mechanical design, gait simulation, patterns generation, kinematics, dynamics, equilibrium, stability, kinds of control, adaptability, biomechanics, cybernetics, and rehabilitation technologies. We have diverse problems related to these topics, making the study of biped robots a very complex subject, and many times the results of researches are not totally satisfactory. However, with scientific and technological advances, based on theoretical and experimental works, many researchers have collaborated in the evolution of the biped robots design, looking for to develop autonomous systems, as well as to help in rehabilitation technologies of human beings. Thus, this book intends to present some works related to the study of biped robots, developed by researchers worldwide.
Author : Katja Mombaur
Publisher : Springer Science & Business Media
ISBN 13 : 3642363687
Total Pages : 289 pages
Book Rating : 4.6/5 (423 download)
Download or read book Modeling, Simulation and Optimization of Bipedal Walking written by Katja Mombaur and published by Springer Science & Business Media. This book was released on 2013-02-28 with total page 289 pages. Available in PDF, EPUB and Kindle. Book excerpt: The model-based investigation of motions of anthropomorphic systems is an important interdisciplinary research topic involving specialists from many fields such as Robotics, Biomechanics, Physiology, Orthopedics, Psychology, Neurosciences, Sports, Computer Graphics and Applied Mathematics. This book presents a study of basic locomotion forms such as walking and running is of particular interest due to the high demand on dynamic coordination, actuator efficiency and balance control. Mathematical models and numerical simulation and optimization techniques are explained, in combination with experimental data, which can help to better understand the basic underlying mechanisms of these motions and to improve them. Example topics treated in this book are Modeling techniques for anthropomorphic bipedal walking systems Optimized walking motions for different objective functions Identification of objective functions from measurements Simulation and optimization approaches for humanoid robots Biologically inspired control algorithms for bipedal walking Generation and deformation of natural walking in computer graphics Imitation of human motions on humanoids Emotional body language during walking Simulation of biologically inspired actuators for bipedal walking machines Modeling and simulation techniques for the development of prostheses Functional electrical stimulation of walking.
Author : Ashish Thakur
Publisher : Independently Published
ISBN 13 : 9781724180391
Total Pages : 50 pages
Book Rating : 4.1/5 (83 download)
Download or read book Modeling and Designing Bipedal Walking Robot written by Ashish Thakur and published by Independently Published. This book was released on 2018-10-07 with total page 50 pages. Available in PDF, EPUB and Kindle. Book excerpt: A humanoid robot is a robot with its body shape built to resemble the human body. The design may be for functional purposes, such as interacting with human tools and environments, for experimental purposes, such as the study of al locomotion or for other purposes. In general, humanoid robots have a torso, a head, two arms, and two legs, though some forms of humanoid robots may model only part of the body, for example, from the waist up. Some humanoid robot also have heads designed to replicate human facial features such as eyes and mouths. Androids are humanoid robots built to aesthetically resemble humans. It is easier for bipedal robots to exist in a human oriented environment than for other types of robots. Furthermore, dynamic walking is more efficient than static walking. For a biped robot achieve dynamic balance while walking, a dynamic gait must be developed. Two different approaches to gait generation are presented
Author :
Publisher :
ISBN 13 :
Total Pages : 80 pages
Book Rating : 4.:/5 (18 download)
Download or read book Biomimetic Design and Construction of a Bipedal Walking Robot written by and published by . This book was released on 2018 with total page 80 pages. Available in PDF, EPUB and Kindle. Book excerpt: Human balance and locomotion control is highly complex and not well understood. To understand how the nervous system controls balance and locomotion works, we test how the body responds to controlled perturbations, the results are analyzed, and control models are developed. However, to recreate this system of control there is a need for a robot with human-like kinematics. Unfortunately, such a robotic testbed does not exist despite the numerous applications such a design would have in mobile robotics, healthcare, and prosthetics. This thesis presents a robotic testbed model of human lower legs. By using MRI and CT scans, joints are designed that require lower force for actuation, are more wear resistant, and are less prone to catastrophic failure than a traditional revolute (or pinned) joints. The result of using this process is the design, construction, and performance analysis of a biologically inspired knee joint for use in bipedal robotics.
Author : Gregg A. Norris
Publisher :
ISBN 13 :
Total Pages : 180 pages
Book Rating : 4.:/5 (261 download)
Download or read book System Development and Control of a Six Degree-of-freedom Biped Walking Robot written by Gregg A. Norris and published by . This book was released on 1991 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Elvedin Kljuno
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (853 download)
Download or read book Elastic Cable-driven Bipedal Walking Robot written by Elvedin Kljuno and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Jianjuen Hu
Publisher :
ISBN 13 :
Total Pages : 220 pages
Book Rating : 4.:/5 (482 download)
Download or read book Stable Locomotion Control of Bipedal Walking Robots written by Jianjuen Hu and published by . This book was released on 2000 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Eldaw Elzaki Eldukhri
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (596 download)
Download or read book Design and Control of a Biped Walking Robot written by Eldaw Elzaki Eldukhri and published by . This book was released on 1996 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Filipe Silva
Publisher :
ISBN 13 : 9783902613073
Total Pages : pages
Book Rating : 4.6/5 (13 download)
Download or read book Multipurpose Low-Cost Humanoid Platform and Modular Control Software Development written by Filipe Silva and published by . This book was released on 2007 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: In this chapter we have described the development and integration of hardware and software components to build a small-size humanoid robot based on off-the-shelf technologies. A modular design is conceived to ensure easy maintenance and faster reproducibility. The most relevant feature of this implementation includes the distributed architecture in which independent and self-contained control units may allow either a cooperative or a standalone operation. The integration in these simpler control units of sensing, processing and acting capabilities play a key role towards localised control based on feedback from several sensors. The adoption of an outer motion control loop to provide accurate trajectory tracking was presented and has been experimentally demonstrated. The strength of this approach lies in its performance, generality and overall simplicity. The humanoid platform reached a point where intermediate and high level control can now flourish. An example has been given for a kind of intermediate level control implemented as a local controller. From there, a forcedriven actuation was successfully applied to demonstrate the possibility of keeping the humanoid robot in upright balance position using the ground reaction forces. Ongoing developments on the humanoid platform cover the remainder hardware components, namely the inclusion of vision and its processing, possibly with a system based on PC104 or similar. A full autonomous humanoid robot for research is being developed that allows testing and evaluation of new ideas and concepts in both hardware and software modules. Future research, which has already started, will cover distributed control, alternative control laws and also deal with issues related to navigation of humanoids and, hopefully, cooperation. Force control techniques and more advanced algorithms such as adaptive and learning strategies will certainly be a key issue for the developments in periods to come in the near future.
Author : Anoop Singh Grewal
Publisher :
ISBN 13 :
Total Pages : 214 pages
Book Rating : 4.:/5 (932 download)
Download or read book Model Reduction and Controller-design Simplification for Bipedal Robots written by Anoop Singh Grewal and published by . This book was released on 2015 with total page 214 pages. Available in PDF, EPUB and Kindle. Book excerpt: The main aims of a bipedal walking robot are to avoid falling and to generally move forward. Towards this end we consider controller reduction. This includes: What is the minimal set of states that a controller needs to sense in order to decide the required control actions? What is the minimal set of control actions that a controller needs to provide in order to reach the desired goals? The minimal set of states and control actions needed indicate that a simpler and reduced model of a bipedal robot can be used to control the balance and locomotion of a walking robot. Our primary approach is based on viable and controllable regions. The N-step viable region is the set of all states from where a robot can take at least N steps and not fall down. The N-step controllable region is the set of all states from where a robot can reach the desired goal (e.g., a given walking speed and step-length) in at most N steps. The similarity in sizes between these regions, for a full-order versus a reduced-order controller, are measures of the efficacy of the reduced controller. The compass-gait walking model, actuated by a hip motor and an impulsive push-off, is used as a testbed for developing and testing the controller-reduction principles. We show that a controller that commands only step-length and push-off, controls the robot almost as well as the most general controller that can swing the leg in arbitrary ways. In this reduced controller, the step-length and push-off are decided based on a single state variable, just after the heel-strike. This reduced controller covers a large fraction of the full controller's viable and controllable regions. The success of this reduced controller suggests that a point-mass model with foot placement (i.e., step-length) and push-off can be used by high-level walking controllers. Other separate projects described in this dissertation are 1) state estimation for the bipedal robot 'Cornell Ranger', 2) controllability analysis of a bicycle in zero gravity, 3) design of chains that can fall faster than gravity, and 4) notes on optimal stabilizing controllers for optimal trajectories.
