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Abba, Gabriel

Bipedal Robots: Modeling, Design and Walking Synthesis

Abba, Gabriel - Bipedal Robots: Modeling, Design and Walking Synthesis, e-kirja

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Tulostus30 sivua ja lisä sivu kertyy joka päivä, ylärajana 30 sivua
Kopioi leikepöydälle5 poimintoa

This book presents various techniques to carry out the gait modeling, the gait patterns synthesis, and the control of biped robots. Some general information on the human walking, a presentation of the current experimental biped robots, and the application of walking bipeds are given. The modeling is based on the decomposition on a walking step into different sub-phases depending on the way each foot stands into contact on the ground. The robot design is dealt with according to the mass repartition and the choice of the actuators. Different ways to generate walking patterns are considered, such aspassive walking and gait synthesis performed using optimization technique. Control based on the robot modeling, neural network methods, or intuitive approaches are presented. The unilaterality of contact is dealt with using on-line adaptation of the desired motion.

Avainsanat: biomechanical; source; data; trajectory; bipedal; state; robots; art; history; studies; france; situation; tendencies; applications; toy; cinema; models; kinematics; locomotion system; generalized coordinates; step; sagittal; generalized; walking

Toimittaja
 
 
 
Julkaisija
John Wiley and Sons, Inc.
Julkaisuvuosi
2008
Kieli
en
Painos
1
Sarja
ISTE
Sivumäärä
328 sivua
Kategoria
Tietotekniikka, tietoliikenne
Tiedostomuoto
E-kirja
eISBN (ePUB)
9781118622971
Painetun ISBN
9781848210769

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