Modeling, Simulation and Optimization of Bipedal Walking
Modeling, Simulation and Optimization of Bipedal Walking

Author: Katja Mombaur

Publisher: Springer Science & Business Media

Published: 2013-02-28

Total Pages: 289

ISBN-13: 3642363687

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The model-based investigation of motions of anthropomorphic systems is an important interdisciplinary research topic involving specialists from many fields such as Robotics, Biomechanics, Physiology, Orthopedics, Psychology, Neurosciences, Sports, Computer Graphics and Applied Mathematics. This book presents a study of basic locomotion forms such as walking and running is of particular interest due to the high demand on dynamic coordination, actuator efficiency and balance control. Mathematical models and numerical simulation and optimization techniques are explained, in combination with experimental data, which can help to better understand the basic underlying mechanisms of these motions and to improve them. Example topics treated in this book are Modeling techniques for anthropomorphic bipedal walking systems Optimized walking motions for different objective functions Identification of objective functions from measurements Simulation and optimization approaches for humanoid robots Biologically inspired control algorithms for bipedal walking Generation and deformation of natural walking in computer graphics Imitation of human motions on humanoids Emotional body language during walking Simulation of biologically inspired actuators for bipedal walking machines Modeling and simulation techniques for the development of prostheses Functional electrical stimulation of walking.

Modeling and Control for Efficient Bipedal Walking Robots
Modeling and Control for Efficient Bipedal Walking Robots

Author: Vincent Duindam

Publisher: Springer Science & Business Media

Published: 2009-01-17

Total Pages: 219

ISBN-13: 3540899170

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By the dawn of the new millennium, robotics has undergone a major tra- formation in scope and dimensions. This expansion has been brought about bythematurityofthe?eldandtheadvancesinitsrelatedtechnologies.From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities,providingsupportinservices,entertainment,education,heal- care, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across - verse researchareas and scienti?c disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are pr- ing an abundant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their signi?cance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing ?eld.

Embedded Robotics
Embedded Robotics

Author: Thomas Bräunl

Publisher: Springer Science & Business Media

Published: 2008-09-20

Total Pages: 536

ISBN-13: 3540705341

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This book presents a unique examination of mobile robots and embedded systems, from introductory to intermediate level. It is structured in three parts, dealing with Embedded Systems (hardware and software design, actuators, sensors, PID control, multitasking), Mobile Robot Design (driving, balancing, walking, and flying robots), and Mobile Robot Applications (mapping, robot soccer, genetic algorithms, neural networks, behavior-based systems, and simulation). The book is written as a text for courses in computer science, computer engineering, IT, electronic engineering, and mechatronics, as well as a guide for robot hobbyists and researchers.

Bipedal Robots
Bipedal Robots

Author: Christine Chevallereau

Publisher: John Wiley & Sons

Published: 2013-03-01

Total Pages: 249

ISBN-13: 1118622979

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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.

Biped Robots
Biped Robots

Author: Armando Carlos De Pina Filho

Publisher: BoD – Books on Demand

Published: 2011-02-04

Total Pages: 336

ISBN-13: 9533072164

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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.

Feedback Control of Dynamic Bipedal Robot Locomotion
Feedback Control of Dynamic Bipedal Robot Locomotion

Author: Eric R. Westervelt

Publisher: CRC Press

Published: 2018-10-03

Total Pages: 528

ISBN-13: 1420053736

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Bipedal locomotion is among the most difficult challenges in control engineering. Most books treat the subject from a quasi-static perspective, overlooking the hybrid nature of bipedal mechanics. 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. In this unique and groundbreaking treatise, expert authors lead you systematically through every step of the process, including: Mathematical modeling of walking and running gaits in planar robots Analysis of periodic orbits in hybrid systems Design and analysis of feedback systems for achieving stable periodic motions Algorithms for synthesizing feedback controllers Detailed simulation examples Experimental implementations on two bipedal test beds The elegance of the authors' approach is evident in the marriage of control theory and mechanics, uniting control-based presentation and mathematical custom with a mechanics-based approach to the problem and computational rendering. Concrete examples and numerous illustrations complement and clarify the mathematical discussion. A supporting Web site offers links to videos of several experiments along with MATLAB® code for several of the models. This one-of-a-kind book builds a solid understanding of the theoretical and practical aspects of truly dynamic locomotion in planar bipedal robots.

Achieving Stable Walking in Bipedal Robots
Achieving Stable Walking in Bipedal Robots

Author: Justin C. McKendry

Publisher:

Published: 2007

Total Pages: 270

ISBN-13:

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Abstract: This research focuses on the application of existing design, modeling, and control techniques to study uninvestigated problems in the area of bipedal walking robots. The first portion of this thesis presents a method of integrating mechanism design and hybrid system analysis for the design of a class of single-degree-of-freedom (DOF) planar bipedal robots that can achieve dynamic walking gaits that are stable. These bipeds employ mechanical coordination to reduce the DOF, which can result in a reduction of the complexity of the control strategies needed to enable stable walking. Prior to this work, a methodology for the design of this type of biped had yet to be developed. The second portion of this thesis investigates walking in three-dimensions (3D). A five-DOF, 3D bipedal model is derived and is used to study the degree of dynamic coupling between frontal and sagittal plane motions. Since the dynamics are found to he inherently coupled, a feedback control algorithm that simultaneously accounts for sagittal and frontal plane motions is introduced. With this control, only unstable periodic gaits are obtained. The final portion of this thesis also involves walking in 3D but focuses on the use of a passive-dynamic walker as a basis for the development of 3D controlled bipedal models. The basin of attraction of a known, stable gait for a passive 3D biped is estimated. The stability mechanisms of the limit cycle are also analyzed. Finally, a passivity-based control strategy is introduced that results in a moderate increase in the size of the basin of attraction. Prior to this work, this methodology had yet to be applied to a 3D passive biped.