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Modeling and Control for Efficient Bipedal Walking Robots : a Port-Based Approach

Author: Vincent Duindam; Frans Groen; Oussama Khatib; Bruno Siciliano; Stefano Stramigioli
Publisher: Berlin, Heidelberg : Springer Berlin Heidelberg, 2009.
Series: Springer tracts in advanced robotics, 53.
Edition/Format:   eBook : Document : EnglishView all editions and formats
Database:WorldCat
Summary:
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 has shown that it is possible to make robotic mechanisms walk very naturally and efficiently without using any control!  Read more...
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Genre/Form: Electronic books
Material Type: Document, Internet resource
Document Type: Internet Resource, Computer File
All Authors / Contributors: Vincent Duindam; Frans Groen; Oussama Khatib; Bruno Siciliano; Stefano Stramigioli
ISBN: 9783540899181 3540899189 3540899170 9783540899174
OCLC Number: 311305827
Description: 1 online resource (: v.: digital.
Contents: Introduction --
Modeling of Rigid Mechanisms --
Modeling of Compliant and Rigid Contact --
Modeling and Analysis of Walking Robots --
Control of Walking Robots --
Conclusions.
Series Title: Springer tracts in advanced robotics, 53.
Responsibility: by Vincent Duindam, Stefano Stramigioli ; edited by Bruno Siciliano, Oussama Khatib, Frans Groen.
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Abstract:

This book presents mathematical tools that can simplify studying robotic walking motions and designing energy-efficient controllers. Numerous examples and illustrations are used to make the  Read more...

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From the reviews: "This book is written for researchers, graduate students, and professionals interested in robotics." (IEEE Control Systems and Magazine, Vol. 30, June, 2010)

 
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