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 Locomotion
Biped Locomotion

Author: Miomir Vukobratovic

Publisher: Springer Science & Business Media

Published: 2012-12-06

Total Pages: 366

ISBN-13: 3642830064

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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.

Humanoid Robotics: A Reference
Humanoid Robotics: A Reference

Author: Prahlad Vadakkepat

Publisher: Springer

Published: 2017-02-14

Total Pages: 0

ISBN-13: 9789400760455

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Humanoid Robotics provides a comprehensive compilation of developments in the conceptualization, design and development of humanoid robots and related technologies. Human beings have built the environment they occupy (living spaces, instruments and vehicles) to suit two-legged systems. Building systems, especially in robotics, that are compatible with the well-established, human-based surroundings and which could naturally interact with humans is an ultimate goal for all researches and engineers. Humanoid Robots are systems (i.e. robots) which mimic human behavior. Humanoids provide a platform to study the construction of systems that behave and interact like humans. A broad range of applications ranging from daily housework to complex medical surgery, deep ocean exploration, and other potentially dangerous tasks are possible using humanoids. In addition, the study of humanoid robotics provides a platform to understand the mechanisms and offers a physical visual of how humans interact, think, and react with the surroundings and how such behaviors could be reassembled and reconstructed. Currently, the most challenging issue with bipedal humanoids is to make them balance on two legs, The purportedly simple act of finding the best balance that enables easy walking, jumping and running requires some of the most sophisticated development of robotic systems- those that will ultimately mimic fully the diversity and dexterity of human beings. Other typical human-like interactions such as complex thought and conversations on the other hand, also pose barriers for the development of humanoids because we are yet to understand fully the way in which we humans interact with our environment and consequently to replicate this in humanoids.

Brain Computation as Hierarchical Abstraction
Brain Computation as Hierarchical Abstraction

Author: Dana H. Ballard

Publisher: MIT Press

Published: 2015-02-20

Total Pages: 457

ISBN-13: 0262323826

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An argument that the complexities of brain function can be understood hierarchically, in terms of different levels of abstraction, as silicon computing is. The vast differences between the brain's neural circuitry and a computer's silicon circuitry might suggest that they have nothing in common. In fact, as Dana Ballard argues in this book, computational tools are essential for understanding brain function. Ballard shows that the hierarchical organization of the brain has many parallels with the hierarchical organization of computing; as in silicon computing, the complexities of brain computation can be dramatically simplified when its computation is factored into different levels of abstraction. Drawing on several decades of progress in computational neuroscience, together with recent results in Bayesian and reinforcement learning methodologies, Ballard factors the brain's principal computational issues in terms of their natural place in an overall hierarchy. Each of these factors leads to a fresh perspective. A neural level focuses on the basic forebrain functions and shows how processing demands dictate the extensive use of timing-based circuitry and an overall organization of tabular memories. An embodiment level organization works in reverse, making extensive use of multiplexing and on-demand processing to achieve fast parallel computation. An awareness level focuses on the brain's representations of emotion, attention and consciousness, showing that they can operate with great economy in the context of the neural and embodiment substrates.

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.

Springer Handbook of Robotics
Springer Handbook of Robotics

Author: Bruno Siciliano

Publisher: Springer

Published: 2016-07-27

Total Pages: 2259

ISBN-13: 3319325523

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The second edition of this handbook provides a state-of-the-art overview on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook’s team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. Springer Handbook of Robotics Multimedia Extension Portal: http://handbookofrobotics.org/

Intelligent Control of Robotic Systems
Intelligent Control of Robotic Systems

Author: D. Katic

Publisher: Springer Science & Business Media

Published: 2013-03-14

Total Pages: 308

ISBN-13: 9401703175

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As robotic systems make their way into standard practice, they have opened the door to a wide spectrum of complex applications. Such applications usually demand that the robots be highly intelligent. Future robots are likely to have greater sensory capabilities, more intelligence, higher levels of manual dexter ity, and adequate mobility, compared to humans. In order to ensure high-quality control and performance in robotics, new intelligent control techniques must be developed, which are capable of coping with task complexity, multi-objective decision making, large volumes of perception data and substantial amounts of heuristic information. Hence, the pursuit of intelligent autonomous robotic systems has been a topic of much fascinating research in recent years. On the other hand, as emerging technologies, Soft Computing paradigms consisting of complementary elements of Fuzzy Logic, Neural Computing and Evolutionary Computation are viewed as the most promising methods towards intelligent robotic systems. Due to their strong learning and cognitive ability and good tolerance of uncertainty and imprecision, Soft Computing techniques have found wide application in the area of intelligent control of robotic systems.