Електронна книга > Наука > Техника > Теплотехника, Энергетика > Christine (IRCCYN, Nantes Atlantic University, CNRS, France) Chevallereau & Jun Ho Choi: Feedback Control of Dynamic Bipedal Robot Locomotion (PDF)

Christine (IRCCYN, Nantes Atlantic University, CNRS, France) Chevallereau & Jun Ho Choi
Feedback Control of Dynamic Bipedal Robot Locomotion [PDF ebook]

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Обложка Christine (IRCCYN, Nantes Atlantic University, CNRS, France) Chevallereau & Jun Ho Choi: Feedback Control of Dynamic Bipedal Robot Locomotion (PDF)

Bipedal locomotion is among the most difficult challenges in control engineering. Most books treat the subject from a quasi-static perspective, overlooking the hybrid nature of bipedal mechanics. Feedback Control of Dynamic Bipedal Robot Locomotion is the first book to present a comprehensive and mathematically sound treatment of feedback design for achieving stable, agile, and efficient locomotion in bipedal robots.
In this unique and groundbreaking treatise, expert authors lead you systematically through every step of the process, including:

Mathematical modeling of walking and running gaits in planar robots

Analysis of periodic orbits in hybrid systems

Design and analysis of feedback systems for achieving stable periodic motions

Algorithms for synthesizing feedback controllers

Detailed simulation examples

Experimental implementations on two bipedal test beds
The elegance of the authors» approach is evident in the marriage of control theory and mechanics, uniting control-based presentation and mathematical custom with a mechanics-based approach to the problem and computational rendering. Concrete examples and numerous illustrations complement and clarify the mathematical discussion. A supporting Web site offers links to videos of several experiments along with MATLAB® code for several of the models. This one-of-a-kind book builds a solid understanding of the theoretical and practical aspects of truly dynamic locomotion in planar bipedal robots.

€171.06

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Формат PDF ● страницы 528 ● ISBN 9781420053739 ● издатель CRC Press ● опубликованный 2018 ● Загружаемые 3 раз ● валюта EUR ● Код товара 4115580 ● Защита от копирования Adobe DRM

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Christine Chevallereau Jun Ho Choi Jessy W. Grizzle Benjamin Morris Eric R. Westervelt Nantes Atlantic University, CNRS, France) Chevallereau Christine (IRCCYN Ann Arbor, USA University of Michigan, Ann Arbor, USA) Grizzle Jessy W. (University of Michigan Columbus, USA) Westervelt Eric R. (The Ohio State University Shuzhi Sam (National University of Singapore National University of Singapore) Ge USA) Lewis Frank L. (The University of Texas at Arlington Ann Arbor, USA) Grizzle Jessy W. (University of Michigan

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