Modeling and Control for Efficient Bipedal Walking Robots A Port-Based Approach /

• Main Authors: Duindam, Vincent (Author), Stramigioli, Stefano (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg, 2009.
• Series: Springer Tracts in Advanced Robotics, 53
• Subjects: Engineering.; Artificial intelligence.; Control engineering.; Robotics.; Mechatronics.; Control, Robotics, Mechatronics.; Artificial Intelligence (incl. Robotics).

Walking robots are complex machines with many degrees of freedom. Designing efficient controllers for such robots can be a daunting task, and the differential equations by themselves usually do not help much when trying to understand the dynamics. Still, research on passive dynamic walking robots ha...

Table of Contents:

• Modeling of Rigid Mechanisms
• Modeling of Compliant and Rigid Contact
• Modeling and Analysis of Walking Robots
• Control of Walking Robots
• Conclusions.