Biped robots represent a very interesting research subject, with several particularities and scope topics, such as: mechanical design, gait simulation, patterns generation, kinematics, dynamics, equilibrium, stability, kinds of control, adaptability, biomechanics, cybernetics, and rehabilitation technologies. We have diverse problems related to these topics, making the study of biped robots a very complex subject, and many times the results of researches are not totally satisfactory. However, with scientific and technological advances, based on theoretical and experimental works, many researchers have collaborated in the evolution of the biped robots design, looking for to develop autonomous systems, as well as to help in rehabilitation technologies of human beings. Thus, this book intends to present some works related to the study of biped robots, developed by researchers worldwide.
This book presents various techniques to carry out the gait modeling, the gait patterns synthesis, and the control of biped robots.
Academic Paper from the year 2017 in the subject Engineering - Robotics, , language: English, abstract: Researchers dream of developing autonomous humanoid robots which behave/walk like a human being.
Therefore, this work is focused on offline computational optimal control strategies for zero-moment point-based biped robots.
This book reports on the developments of the bipedal walking robot Lucy.
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.
This book is for researchers, engineers, and students who are willing to understand how humanoid robots move and be controlled. The book starts with an overview of the humanoid robotics research history and state of the art.
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.
The simplest feedforward control strategy , namely a constant touchdown angle Br = B € ( 1/4 , A / 2 ) Vn , with n enumerating subsequent stance phases , is used except when the flight phase apex falls below the COM touchdown height Co ...
Simulation and Control of Biped Walking Robots
The purpose of this work is to present a set of mathematical tools that can simplify studying robotic walking motions and designing energy-efficient controllers.