Biped locomotion : dynamics, stability, control, and application

書誌事項

Biped locomotion : dynamics, stability, control, and application

M. Vukobratović ... [et al.]

(Communications and control engineering, . Scientific fundamental of robotics ; 7)

Springer-Verlag, c1990

  • : U.S.
  • : Ger.

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注記

Translated from the Serbo-Croatian (Cyrillic)

Includes bibliographical references and index

内容説明・目次

内容説明

Presents a comprehensive and systematic approach to the dynamic modelling and control of biped locomotion robots. The text includes a survey of various approaches to the control of biped robots. A new approach to the control of biped systems based on a complete dynamic model is presented in detail. The stability of complete biped system is presented for the first time as a highly nonlinear dynamic system. Also included is software for the synthesis of a dynamically stable walk for arbitrary biped systems, presented here for the first time. A survey of various realizations of biped systems and numerous numerical examples are given.

目次

Contents: Dynamics of Biped Locomotion.- Synthesis of Nominal Dynamics.- Control and Stability.- Realization of Anthropomorphic Mechanisms.- References.- Subject Index.

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