ENGLISH

Bipedal Robots: Modeling, Design and Walking Synthesis

By Christine Chevallereau

Book information

Year
2009
ISBN
1848210760, 9781848210769
LCC
TJ211.4 .R6313 2008
Open Library ID
OL17052684M
Language
english
Format
PDF
Filesize
4 MB (4624377 bytes)
Edition
1
Pages
328\338
Scanned
yes
Time added
2011-06-04 13:46:07

Description

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 as?passive 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.

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