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Bipedal robots : modeling, design and walking synthesis

Author: Christine Chevallereau
Publisher: London : ISTE ; Hoboken, NJ : John Wiley & Sons, 2009.
Series: Control systems, robotics and manufacturing series.
Edition/Format:   eBook : Document : EnglishView all editions and formats
Summary:
"This book details various techniques for carrying out gait modeling and walking pattern synthesis and for the control of bipedal robots. General analytical information on human walking is provided, along with a review of current experimental bipedal robots and of the possible applications of walking bipeds. Different methods for generating viable walking patterns are considered, such as passive walking and gait  Read more...
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Genre/Form: Electronic books
Additional Physical Format: Print version:
Bipedal robots.
London : ISTE ; Hoboken, NJ : John Wiley & Sons, 2009
(DLC) 2008035231
(OCoLC)230183505
Material Type: Document, Internet resource
Document Type: Internet Resource, Computer File
All Authors / Contributors: Christine Chevallereau
ISBN: 9780470394267 0470394269 9780470611623 0470611626
OCLC Number: 520990468
Notes: Originally published: Robots marcheurs bipedes. France : Hermes Science/Lavoisier, ©2007.
Description: 1 online resource (vii, 328 pages) : illustrations.
Contents: Ch. 1. Bipedal Robots and Walking --
Ch. 2. Kinematic and Dynamic Models for Walking --
Ch. 3. Design Tools for Making Bipedal Robots --
Ch. 4. Walking Pattern Generators --
Ch. 5. Control.
Series Title: Control systems, robotics and manufacturing series.
Other Titles: Robots marcheurs bipedes.
Responsibility: edited by Christine Chevallereau [and others].

Abstract:

"This book details various techniques for carrying out gait modeling and walking pattern synthesis and for the control of bipedal robots. General analytical information on human walking is provided, along with a review of current experimental bipedal robots and of the possible applications of walking bipeds. Different methods for generating viable walking patterns are considered, such as passive walking and gait synthesis performed using optimization techniques." "Control based on robot modeling, neural network methods or intuitive approaches are also covered. The unilaterality of contact is dealt with using online adaptation of the desired motion. The Poincare return map tool is considered as a means of studying and analyzing walking stability."--Jacket.

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