General

Authors

Search


Committee login



 
 

 


 

 

Forthcoming

Small thumbnail

Secure Connected Objects

Small thumbnail

Banach, Fréchet, Hilbert and Neumann Spaces

Analysis for PDEs Set Volume 1

Small thumbnail

Semi-Markov Migration Models for Credit Risk

Stochastic Models for Insurance Set Volume 1

Small thumbnail

Human Exposure to Electromagnetic Fields

From Extremely Low Frequency (ELF) to Radio Frequency

Small thumbnail

Enterprise Interoperability

INTEROP-PGSO Vision

Small thumbnail

Data Treatment in Environmental Sciences

Multivaried Approach

Small thumbnail

From Pinch Methodology to Pinch-Exergy Integration of Flexible Systems

Thermodynamics Energy, Environment, Economy Set

Small thumbnail

Exterior Algebras

Elementary Tribute to Grassmann's Ideas

Small thumbnail

Nonlinear Theory of Elastic Plates

Small thumbnail

Cognitive Approach to Natural Language Processing

Small thumbnail

Bipedal Robots

Modeling, Design and Walking Synthesis

Edited by Christine Chevallereau, Institute of Research in Communication and Cybernetics, Nantes, France Guy Bessonnet, University of Poitiers, France Gabriel Abba, National Engineer School of Metz, France Yannick Aoustin, University of Nantes, France

ISBN: 9781848210769

Publication Date: November 2008   Hardback   336 pp.

180.00 USD


Add to cart

eBooks


Ebook Ebook

Description

This book presents various techniques for carrying out gait modeling, walking pattern synthesis and the control of bipedal robots. General information on human walking is given, along with a presentation of current experimental bipedal robots and the application of walking bipeds. Different ways of generating walking patterns are considered, such as passive walking and gait synthesis performed using optimization techniques. Control based on robot modeling, neural network methods or intuitive approaches are also covered. The unilaterality of contact is dealt with using online adaptation of the desired motion. The Poincaré return map tool is considered to study walking stability.

Contents

1. Bipedal Robots and Walking.
2. Kinematic and Dynamic Models for Walking.
3. Design Tools for Making Bipedal Robots.
4. Walking Pattern Generators.
5. Control.

About the Authors

Christine Chevallereau is Director of Research at the National Center for Scientific Research (CNRS) and is a researcher at the Institute of Research in Communication and Cybernetics, Nantes, France.
Guy Bessonnet is a Professor at the University of Poitiers and is a researcher at the Laboratory of Solid Mechanics at Poitiers, France.
Gabriel Abba is Professor of Automatic Control and Robotics at the National Engineer School of Metz and is a researcher at the Laboratory of Industrial Engineering and Mechanical Production, Metz, France.
Yannick Aoustin is an Associate Professor at the University of Nantes and is a researcher at the Institute of Research in Communication and Cybernetics, Nantes, France.

Downloads

DownloadTable of Contents - PDF File - 94 Kb

Related Titles



































0.02658 s.