Biped locomotion: dynamics, stability, control, and application
Here for the first time in one book is a comprehensive and systematic approach to the dynamic modeling and control of biped locomotion robots. A survey is included of various approaches to the control of biped robots, and 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 new 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. The reader is given a deep insight into the entire area of biped locomotion. The book covers all relevant approaches to the subject and gives the most complete account to date of dynamic modeling, control and realizations of biped systems.
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Biped Locomotion: Dynamics, Stability, Control and Application
No preview available - 1990
accelerations actuator angular angular velocity ankle joint anthropomorphic axes axis behaviour biped gait biped system body calculated CD CD CD COEFFICIENTS COMMON Compensating movements composite subsystem computed considered control laws coordinate frame corresponding CROSS PRODUCT defined denotes differential equations DIMENSION double-support phase driving torques dynamic equilibrium Dynamic Systems equilibrium Euler's angles exoskeleton feedback foot frontal plane function gait upon level global control Hemami H human gait i-th link initial INPUT VARIABLES inverted pendulum kinematic pair level ground linear locomotion mechanisms locomotion systems Lyapunov function mass centre mathematical model mechanism's motion muscle nominal dynamics nominal trajectories nonlinear obtained OUTPUT VARIABLES parameters planar powered joints prescribed synergy problem realization repeatability conditions respect RETURN END Robots sagittal plane single-support gait single-support phase stability analysis SUBROUTINE supporting leg tion torso trunk unit vector unpowered d.o.f. unpowered joint values velocities vertical Vukobratovid ZMP displacement ZMP position