Hybrid control and motion planning of dynamical legged locomotion /

Hybrid control and motion planning of dynamical legged locomotion /

"This book provides a comprehensive presentation of issues and challenges faced by researchers and practicing engineers in motion planning and hybrid control of dynamical legged locomotion. The major features range from offline and online motion planning algorithms to generate desired feasible...

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Bibliographic Details
Other Authors: Sadati, Nasser
Format: eBook
Language:English
Published: Hoboken, N.J. : Wiley, 2012.
Subjects:
Mobile robots.
Robots > Motion.
Walking.
TECHNOLOGY & ENGINEERING > Robotics.
TECHNOLOGY & ENGINEERING > Automation.
Electronic books.
Online Access:Full Text via HEAL-Link
Table of Contents:
  • Preliminaries in Hybrid Systems
  • Asymptotic Stabilization of Periodic Orbits for Walking with Double Support Phase
  • Asymptotic Stabilization of Periodic Orbits for Planar Monopedal Running
  • Online Generation of Joint Motions During Flight Phases of Planar Running
  • Stabilization of Periodic Orbits for 3D Monopedal Running
  • Stabilization of Periodic Orbits for Walking with Passive Knees
  • Continuous-Time Update Laws During Continuous Phases of Locomotion.
  • Index.

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