Bipedal Robots
Modeling, Design and Walking Synthesis
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Beschreibung
This book presents various techniques to carry out the gaitmodeling, the gait patterns synthesis, and the control of bipedrobots. Some general information on the human walking, apresentation of the current experimental biped robots, and theapplication of walking bipeds are given. The modeling is based onthe decomposition on a walking step into different sub-phasesdepending on the way each foot stands into contact on the ground.The robot design is dealt with according to the mass repartitionand the choice of the actuators. Different ways to generate walkingpatterns are considered, such as passive walking and gaitsynthesis performed using optimization technique. Control based onthe robot modeling, neural network methods, or intuitive approachesare presented. The unilaterality of contact is dealt with usingon-line adaptation of the desired motion.
Autor*in
Christine Chevallereau
Themen in »Bipedal Robots«
Electrical & Electronics Engineering Elektrotechnik u. Elektronik Robotics Robotik