Feedback control of dynamic bipedal robot locomotion. (2018)

• Record Type: Book
• Further Information: Note: Eric R. Westervelt ... [et al.].
• Other Names: Westervelt, Eric R
• Contents: PRELIMINARIES; Introduction; Two Test Beds for Theory; MODELING, ANALYSIS, AND CONTROL OF ROBOTS WITH PASSIVE POINT FEET; Modeling of Planar Bipedal Robots with Point Feet; Periodic Orbits and Poincaré Return Maps; Zero Dynamics of Bipedal Locomotion; Systematic Design of Within-Stride Feedback Controllers for Walking; Systematic Design of Event-Based Feedback Controllers for Walking; Experimental Results for Walking; Running with Point Feet; WALKING WITH FEET; Walking with Feet and Actuated Ankles; Directly Controlling the Foot Rotation Indicator Point; APPENDICES; Appendix A: Getting Started; Appendix B: Essential Technical Background; Appendix C: Proofs and Technical Details; Appendix D: Derivation of the Equations of Motion for Three-Dimensional Mechanisms; Appendix E: Single Support Equations of Motion of RABBIT; NOMENCLATURE; END NOTES; REFERENCES; INDEX; SUPPLEMENTAL INDICES
• Publisher Details: Place of publication not identified : CRC Press
• Publication Date: 2018
• Extent: 1 online resource (528 pages), (20 illustrations)
• Subjects: 629.8932; Robotics; Locomotion
• Languages: English
• ISBNs: 9781351835312; 1351835319
• Access Rights: Legal Deposit; Only available on premises controlled by the deposit library and to one user at any one time; The Legal Deposit Libraries (Non-Print Works) Regulations (UK).
• Access Usage: Restricted: Printing from this resource is governed by The Legal Deposit Libraries (Non-Print Works) Regulations (UK) and UK copyright law currently in force.