Modeling and Control for Efficient Bipedal Walking Robots : A Port-Based Approach
Walking robots are complex machines with many degrees of freedom. Designing efficient controllers for such robots can be a daunting task, and the differential equations by themselves usually do not help much when trying to understand the dynamics. Still, research on passive dynamic walking robots ha...
保存先:
| 主要な著者: | , |
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| その他の著者: | , , |
| フォーマット: | Livre numérique |
| 言語: | Anglais |
| 出版事項: |
Berlin, Heidelberg :
Springer Berlin Heidelberg
[20..].
Cham : Springer Nature |
| 版: | 1st ed. 2009. |
| シリーズ: | Springer Tracts in Advanced Robotics
53 |
| オンライン･アクセス: | Accès sur la plateforme de l'éditeur Accès sur la plateforme Istex Accès Université d'Orléans Accès INSA CVL |
| 注記: |
Archives Springer e-books (Licence nationale) Archives Springer e-books (Licence nationale) |
| Autres localisations: | Voir dans le Sudoc |
| Edition sous un autre format: | • Modeling and Control for Efficient Bipedal Walking Robots, Texte imprimé, 9783540899174 • Modeling and Control for Efficient Bipedal Walking Robots, Texte imprimé, 9783642100611 • Modeling and Control for Efficient Bipedal Walking Robots, Texte imprimé, 9783540899198 • Modeling and Control for Efficient Bipedal Walking Robots, Texte imprimé, 9783540899174 |
| 要約: | Walking robots are complex machines with many degrees of freedom. Designing efficient controllers for such robots can be a daunting task, and the differential equations by themselves usually do not help much when trying to understand the dynamics. Still, research on passive dynamic walking robots has shown that it is possible to make robotic mechanisms walk very naturally and efficiently without using any control! The gap between theoretically well-understood position-controlled walking robots and experimentally-designed uncontrolled passive-dynamic walkers is nevertheless large, and extending a passive-dynamic walker to be more robust and versatile is non-trivial. 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. The authors extend classical dynamic modeling methods and view robots and controllers as energy-exchanging physical systems, which forms the basisof the so-called port-based approach. They show how such methods can be used to analyze walking mechanisms, find efficient walking trajectories, and design controllers that increase robustness and stability with minimal energy cost. Extensive examples and illustrations are used with the objective to make the mathematics intuitive and accessible to everyone with an engineering background |
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| 記述事項: | Archives Springer e-books (Licence nationale) Archives Springer e-books (Licence nationale) |
| ISBN: | 9783540899181 |
| ISSN: | 1610-742X |
| アクセス: | Accès en ligne pour les établissements français bénéficiaires des licences nationales Accès soumis à abonnement pour tout autre établissement Conditions particulières de réutilisation pour les bénéficiaires des licences nationales. https://www.licencesnationales.fr/springer-nature-ebooks-contrat-licence-ln-2017 |