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Feedback Control of Dynamic Bipedal Robot Locomotion (Automation and Control Engineering), by Eric R. Westervelt, Jessy W. Grizzle, Christ
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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:
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.
- Sales Rank: #3082460 in eBooks
- Published on: 2007-06-26
- Released on: 2007-06-26
- Format: Kindle eBook
About the Author
The Ohio State University, Columbus, USA University of Michigan, Ann Arbor, USA IRCCYN, Nantes Atlantic University, CNRS, France Korea Institute of Science and Technology, Seoul, South Kore University of Michigan, Ann Arbor, USA
Most helpful customer reviews
2 of 2 people found the following review helpful.
life altering
By Philip Taylor
This book changed my life. Buy it while you can. Before reading this book, I was stuck in that all-too-familiar rut of Static, Mono-pedal Robot Locomotion. Not anymore! Worth every penny!
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