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Feedback Control of Dynamic Bipedal Robot Locomotion

Eric R. Westervelt,Jessy W. Grizzle,Christine Chevallereau,Jun Ho Choi,Benjamin Morris

Author : Eric R. Westervelt,Jessy W. Grizzle,Christine Chevallereau,Jun Ho Choi,Benjamin Morris
Publisher : CRC Press
Page : 528 pages
File Size : 47,6 Mb
Release : 2018-10-03
Category : Technology & Engineering
ISBN : 9781420053739

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Feedback Control of Dynamic Bipedal Robot Locomotion by Eric R. Westervelt,Jessy W. Grizzle,Christine Chevallereau,Jun Ho Choi,Benjamin Morris Pdf

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.

Feedback Control of Dynamic Bipedal Robot Locomotion

Eric R. Westervelt,Jessy W. Grizzle,Christine Chevallereau,Jun Ho Choi,Benjamin Morris

Author : Eric R. Westervelt,Jessy W. Grizzle,Christine Chevallereau,Jun Ho Choi,Benjamin Morris
Publisher : CRC Press
Page : 322 pages
File Size : 43,8 Mb
Release : 2018-10-03
Category : Technology & Engineering
ISBN : 9781351835312

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Feedback Control of Dynamic Bipedal Robot Locomotion by Eric R. Westervelt,Jessy W. Grizzle,Christine Chevallereau,Jun Ho Choi,Benjamin Morris Pdf

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.

Bipedal Robots

Christine Chevallereau,Guy Bessonnet,Gabriel Abba,Yannick Aoustin

Author : Christine Chevallereau,Guy Bessonnet,Gabriel Abba,Yannick Aoustin
Publisher : John Wiley & Sons
Page : 249 pages
File Size : 41,8 Mb
Release : 2013-03-01
Category : Technology & Engineering
ISBN : 9781118622971

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Bipedal Robots by Christine Chevallereau,Guy Bessonnet,Gabriel Abba,Yannick Aoustin Pdf

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.

Bioinspired Legged Locomotion

Maziar Ahmad Sharbafi,André Seyfarth

Author : Maziar Ahmad Sharbafi,André Seyfarth
Publisher : Butterworth-Heinemann
Page : 638 pages
File Size : 54,8 Mb
Release : 2017-11-21
Category : Technology & Engineering
ISBN : 9780128037744

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Bioinspired Legged Locomotion by Maziar Ahmad Sharbafi,André Seyfarth Pdf

Bioinspired Legged Locomotion: Models, Concepts, Control and Applications explores the universe of legged robots, bringing in perspectives from engineering, biology, motion science, and medicine to provide a comprehensive overview of the field. With comprehensive coverage, each chapter brings outlines, and an abstract, introduction, new developments, and a summary. Beginning with bio-inspired locomotion concepts, the book's editors present a thorough review of current literature that is followed by a more detailed view of bouncing, swinging, and balancing, the three fundamental sub functions of locomotion. This part is closed with a presentation of conceptual models for locomotion. Next, the book explores bio-inspired body design, discussing the concepts of motion control, stability, efficiency, and robustness. The morphology of legged robots follows this discussion, including biped and quadruped designs. Finally, a section on high-level control and applications discusses neuromuscular models, closing the book with examples of applications and discussions of performance, efficiency, and robustness. At the end, the editors share their perspective on the future directions of each area, presenting state-of-the-art knowledge on the subject using a structured and consistent approach that will help researchers in both academia and industry formulate a better understanding of bioinspired legged robotic locomotion and quickly apply the concepts in research or products. Presents state-of-the-art control approaches with biological relevance Provides a thorough understanding of the principles of organization of biological locomotion Teaches the organization of complex systems based on low-dimensional motion concepts/control Acts as a guideline reference for future robots/assistive devices with legged architecture Includes a selective bibliography on the most relevant published articles

Biped Locomotion

Miomir Vukobratovic,Branislav Borovac,Dusan Surla,Dragan Stokic

Author : Miomir Vukobratovic,Branislav Borovac,Dusan Surla,Dragan Stokic
Publisher : Springer Science & Business Media
Page : 366 pages
File Size : 47,9 Mb
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 9783642830068

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Biped Locomotion by Miomir Vukobratovic,Branislav Borovac,Dusan Surla,Dragan Stokic Pdf

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.

Disturbance rejection control for bipedal robot walkers

Jaime Arcos Legarda

Author : Jaime Arcos Legarda
Publisher : Universidad Nacional de Colombia
Page : 134 pages
File Size : 49,5 Mb
Release : 2022-12-31
Category : Business & Economics
ISBN : 9789587949643

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Disturbance rejection control for bipedal robot walkers by Jaime Arcos Legarda Pdf

This dissertation contributes to the theoretical and experimental foundation of disturbance rejection control in dynamic bipedal robots. Disturbances produced by model uncertainties and external disturbances are studied as lumped signals that can be rejected through feedback control techniques. The disturbance rejection problem is addressed with the design of trajectory tracking controllers working complementary with an adaptive reference trajectory generator. Two trajectory tracking control strategies were developed: (i) a novel model-based active disturbance rejection control and (ii) a robust multivariable generalized proportional integral control. The methodology adopted allows the design of trajectory generators with the ability to produce periodic stable gait patterns and reject disturbances through the use of an adaptive reference trajectory generator. A discrete control action resets the gait trajectory references after the impact produced by the robot's support-leg exchange in order to maintain a zero tracking error in the controlled joints. In addition, an extended hybrid zero dynamics is introduced to examine the periodic stability of the system with the use of a lower-dimensional representation of the full hybrid dynamics with uncertainties. A physical bipedal robot testbed, named as Saurian, was fabricated for validation purposes. Numerical simulation and physical experiments show the robustness of the proposed control strategies against external disturbances and model uncertainties that could affect both the swing motion phase and the support-leg exchange.

New Perspectives on Nonlinear Dynamics and Complexity

Dimitri Volchenkov,Albert C. J. Luo

Author : Dimitri Volchenkov,Albert C. J. Luo
Publisher : Springer Nature
Page : 198 pages
File Size : 46,6 Mb
Release : 2022-07-29
Category : Technology & Engineering
ISBN : 9783030973285

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New Perspectives on Nonlinear Dynamics and Complexity by Dimitri Volchenkov,Albert C. J. Luo Pdf

This book presents select, recent developments in nonlinear and complex systems reported at the 1st Online Conference on Nonlinear Dynamics and Complexity, held on November 23-25, 2020. It provides an exchange recent developments, discoveries, and progresses in Nonlinear Dynamics and Complexity. The collection presents fundamental and frontier theories and techniques for modern science and technology, stimulates more research interest for exploration of nonlinear science and complexity; and passes along new knowledge and insight to the next generation of engineers and technologists in a range of fields.

Neurobiology of Motor Control

Scott L. Hooper,Ansgar Büschges

Author : Scott L. Hooper,Ansgar Büschges
Publisher : John Wiley & Sons
Page : 512 pages
File Size : 49,6 Mb
Release : 2017-06-21
Category : Medical
ISBN : 9781118873625

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Neurobiology of Motor Control by Scott L. Hooper,Ansgar Büschges Pdf

A multi-disciplinary look at the current state of knowledge regarding motor control and movement—from molecular biology to robotics The last two decades have seen a dramatic increase in the number of sophisticated tools and methodologies for exploring motor control and movement. Multi-unit recordings, molecular neurogenetics, computer simulation, and new scientific approaches for studying how muscles and body anatomy transform motor neuron activity into movement have helped revolutionize the field. Neurobiology of Motor Control brings together contributions from an interdisciplinary group of experts to provide a review of the current state of knowledge about the initiation and execution of movement, as well as the latest methods and tools for investigating them. The book ranges from the findings of basic scientists studying model organisms such as mollusks and Drosophila, to biomedical researchers investigating vertebrate motor production to neuroengineers working to develop robotic and smart prostheses technologies. Following foundational chapters on current molecular biological techniques, neuronal ensemble recording, and computer simulation, it explores a broad range of related topics, including the evolution of motor systems, directed targeted movements, plasticity and learning, and robotics. Explores motor control and movement in a wide variety of organisms, from simple invertebrates to human beings Offers concise summaries of motor control systems across a variety of animals and movement types Explores an array of tools and methodologies, including electrophysiological techniques, neurogenic and molecular techniques, large ensemble recordings, and computational methods Considers unresolved questions and how current scientific advances may be used to solve them going forward Written specifically to encourage interdisciplinary understanding and collaboration, and offering the most wide-ranging, timely, and comprehensive look at the science of motor control and movement currently available, Neurobiology of Motor Control is a must-read for all who study movement production and the neurobiological basis of movement—from molecular biologists to roboticists.

Soft Computing for Intelligent Control and Mobile Robotics

Oscar Castillo,Witold Pedrycz

Author : Oscar Castillo,Witold Pedrycz
Publisher : Springer Science & Business Media
Page : 475 pages
File Size : 42,7 Mb
Release : 2010-10-05
Category : Computers
ISBN : 9783642155338

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Soft Computing for Intelligent Control and Mobile Robotics by Oscar Castillo,Witold Pedrycz Pdf

This book describes in a detailed fashion the application of hybrid intelligent systems using soft computing techniques for intelligent control and mobile robotics. Soft Computing (SC) consists of several intelligent computing paradigms, including fuzzy logic, neural networks, and bio-inspired optimization algorithms, which can be used to produce powerful hybrid intelligent systems. The prudent combination of SC techniques can produce powerful hybrid intelligent systems that are capable of solving real-world problems. This is illustrated in this book with a wide range of applications, with particular emphasis in intelligent control and mobile robotics. The book is organized in five main parts, which contain a group of papers around a similar subject. The first part consists of papers with the main theme of theory and algorithms, which are basically papers that propose new models and concepts, which can be the basis for achieving intelligent control and mobile robotics. The second part contains papers with the main theme of intelligent control, which are basically papers using bio-inspired techniques, like evolutionary algorithms and neural networks, for achieving intelligent control of non-linear plants. The third part contains papers with the theme of optimization of fuzzy controllers, which basically consider the application of bio-inspired optimization methods to automate the de-sign process of optimal type-1 and type-2 fuzzy controllers. The fourth part contains papers that deal with the application of SC techniques in times series prediction and intelligent agents. The fifth part contains papers with the theme of computer vision and robotics, which are papers considering soft computing methods for applications related to vision and robotics.

Algorithmic Foundations of Robotics XII

Ken Goldberg,Pieter Abbeel,Kostas Bekris,Lauren Miller

Author : Ken Goldberg,Pieter Abbeel,Kostas Bekris,Lauren Miller
Publisher : Springer Nature
Page : 931 pages
File Size : 55,5 Mb
Release : 2020-05-06
Category : Technology & Engineering
ISBN : 9783030430894

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Algorithmic Foundations of Robotics XII by Ken Goldberg,Pieter Abbeel,Kostas Bekris,Lauren Miller Pdf

This book presents the outcomes of the 12th International Workshop on the Algorithmic Foundations of Robotics (WAFR 2016). WAFR is a prestigious, single-track, biennial international meeting devoted to recent advances in algorithmic problems in robotics. Robot algorithms are an important building block of robotic systems and are used to process inputs from users and sensors, perceive and build models of the environment, plan low-level motions and high-level tasks, control robotic actuators, and coordinate actions across multiple systems. However, developing and analyzing these algorithms raises complex challenges, both theoretical and practical. Advances in the algorithmic foundations of robotics have applications to manufacturing, medicine, distributed robotics, human–robot interaction, intelligent prosthetics, computer animation, computational biology, and many other areas. The 2016 edition of WAFR went back to its roots and was held in San Francisco, California – the city where the very first WAFR was held in 1994. Organized by Pieter Abbeel, Kostas Bekris, Ken Goldberg, and Lauren Miller, WAFR 2016 featured keynote talks by John Canny on “A Guided Tour of Computer Vision, Robotics, Algebra, and HCI,” Erik Demaine on “Replicators, Transformers, and Robot Swarms: Science Fiction through Geometric Algorithms,” Dan Halperin on “From Piano Movers to Piano Printers: Computing and Using Minkowski Sums,” and by Lydia Kavraki on “20 Years of Sampling Robot Motion.” Furthermore, it included an Open Problems Session organized by Ron Alterovitz, Florian Pokorny, and Jur van den Berg. There were 58 paper presentations during the three-day event. The organizers would like to thank the authors for their work and contributions, the reviewers for ensuring the high quality of the meeting, the WAFR Steering Committee led by Nancy Amato as well as WAFR’s fiscal sponsor, the International Federation of Robotics Research (IFRR), led by Oussama Khatib and Henrik Christensen. WAFR 2016 was an enjoyable and memorable event.

Type-2 Fuzzy Logic in Control of Nonsmooth Systems

Oscar Castillo,Luis T. Aguilar

Author : Oscar Castillo,Luis T. Aguilar
Publisher : Springer
Page : 122 pages
File Size : 41,7 Mb
Release : 2018-11-02
Category : Technology & Engineering
ISBN : 9783030031343

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Type-2 Fuzzy Logic in Control of Nonsmooth Systems by Oscar Castillo,Luis T. Aguilar Pdf

This book presents the synthesis and analysis of fuzzy controllers and its application to a class of mechanical systems. It mainly focuses on the use of type-2 fuzzy controllers to account for disturbances known as hard or nonsmooth nonlinearities. The book, which summarizes the authors’ research on type-2 fuzzy logic and control of mechanical systems, presents models, simulation and experiments towards the control of servomotors with dead-zone and Coulomb friction, and the control of both wheeled mobile robots and a biped robot. Closed-loop systems are analyzed in the framework of smooth and nonsmooth Lyapunov functions.

Springer Handbook of Robotics

Bruno Siciliano,Oussama Khatib

Author : Bruno Siciliano,Oussama Khatib
Publisher : Springer
Page : 2259 pages
File Size : 43,9 Mb
Release : 2016-07-27
Category : Technology & Engineering
ISBN : 9783319325521

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Springer Handbook of Robotics by Bruno Siciliano,Oussama Khatib Pdf

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/

Hybrid Feedback Control

Ricardo G. Sanfelice

Author : Ricardo G. Sanfelice
Publisher : Princeton University Press
Page : 424 pages
File Size : 46,6 Mb
Release : 2021-01-12
Category : Mathematics
ISBN : 9780691189536

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Hybrid Feedback Control by Ricardo G. Sanfelice Pdf

A comprehensive introduction to hybrid control systems and design Hybrid control systems exhibit both discrete changes, or jumps, and continuous changes, or flow. An example of a hybrid control system is the automatic control of the temperature in a room: the temperature changes continuously, but the control algorithm toggles the heater on or off intermittently, triggering a discrete jump within the algorithm. Hybrid control systems feature widely across disciplines, including biology, computer science, and engineering, and examples range from the control of cellular responses to self-driving cars. Although classical control theory provides powerful tools for analyzing systems that exhibit either flow or jumps, it is ill-equipped to handle hybrid control systems. In Hybrid Feedback Control, Ricardo Sanfelice presents a self-contained introduction to hybrid control systems and develops new tools for their analysis and design. Hybrid behavior can occur in one or more subsystems of a feedback system, and Sanfelice offers a unified control theory framework, filling an important gap in the control theory literature. In addition to the theoretical framework, he includes a plethora of examples and exercises, a Matlab toolbox (as well as two open-source versions), and an insightful overview at the beginning of each chapter. Relevant to dynamical systems theory, applied mathematics, and computer science, Hybrid Feedback Control will be useful to students and researchers working on hybrid systems, cyber-physical systems, control, and automation.

Robotics Research

Cédric Pradalier,Roland Siegwart,Gerhard Hirzinger

Author : Cédric Pradalier,Roland Siegwart,Gerhard Hirzinger
Publisher : Springer Science & Business Media
Page : 752 pages
File Size : 55,5 Mb
Release : 2011-05-02
Category : Technology & Engineering
ISBN : 9783642194566

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Robotics Research by Cédric Pradalier,Roland Siegwart,Gerhard Hirzinger Pdf

This volume presents a collection of papers presented at the 14th International Symposium of Robotic Research (ISRR). ISRR is the biennial meeting of the International Foundation of Robotic Research (IFRR) and its 14th edition took place in Lucerne, Switzerland, from August 31st to September 3rd, 2009. As for the previous symposia, ISRR 2009 followed up on the successful concept of a mixture of invited contributions and open submissions. Half of the 48 presentations were therefore invited contributions from outstanding researchers selected by the IFRR officers, and half were chosen among the 66 submissions after peer review. This selection process resulted in a truly excellent technical program which, we believe, featured some of the very best of robotic research. Out of the 48 presentations, the 42 papers which were finally submitted for publication are organized in 8 sections that encompass the major research orientations in robotics: Navigation, Control & Planning, Human-Robot Interaction, Manipulation and Humanoids, Learning, Mapping, Multi-Robot Systems, and Micro-Robotics. They represent an excellent snapshot of cutting-edge research in robotics and outline future directions.

Classical Feedback Control

Boris Lurie,Paul Enright

Author : Boris Lurie,Paul Enright
Publisher : CRC Press
Page : 556 pages
File Size : 47,6 Mb
Release : 2016-04-19
Category : Technology & Engineering
ISBN : 9781439897461

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Classical Feedback Control by Boris Lurie,Paul Enright Pdf

This second edition textbook describes the design and implementation of high-performance feedback controllers for engineering systems. It emphasizes the frequency-domain design and methods based on Bode integrals, loop shaping, and nonlinear dynamic compensation. The authors include many problems and offer practical applications, illustrations, and

Feedback Control Of Dynamic Bipedal Robot Locomotion

Feedback Control of Dynamic Bipedal Robot Locomotion by Eric R. Westervelt,Jessy W. Grizzle,Christine Chevallereau,Jun Ho Choi,Benjamin Morris Pdf

Feedback Control of Dynamic Bipedal Robot Locomotion by Eric R. Westervelt,Jessy W. Grizzle,Christine Chevallereau,Jun Ho Choi,Benjamin Morris Pdf

Bipedal Robots by Christine Chevallereau,Guy Bessonnet,Gabriel Abba,Yannick Aoustin Pdf

Bioinspired Legged Locomotion by Maziar Ahmad Sharbafi,André Seyfarth Pdf

Biped Locomotion by Miomir Vukobratovic,Branislav Borovac,Dusan Surla,Dragan Stokic Pdf

Disturbance rejection control for bipedal robot walkers by Jaime Arcos Legarda Pdf

New Perspectives on Nonlinear Dynamics and Complexity by Dimitri Volchenkov,Albert C. J. Luo Pdf

Neurobiology of Motor Control by Scott L. Hooper,Ansgar Büschges Pdf

Soft Computing for Intelligent Control and Mobile Robotics by Oscar Castillo,Witold Pedrycz Pdf

Algorithmic Foundations of Robotics XII by Ken Goldberg,Pieter Abbeel,Kostas Bekris,Lauren Miller Pdf

Type-2 Fuzzy Logic in Control of Nonsmooth Systems by Oscar Castillo,Luis T. Aguilar Pdf

Springer Handbook of Robotics by Bruno Siciliano,Oussama Khatib Pdf

Hybrid Feedback Control by Ricardo G. Sanfelice Pdf

Robotics Research by Cédric Pradalier,Roland Siegwart,Gerhard Hirzinger Pdf

Classical Feedback Control by Boris Lurie,Paul Enright Pdf

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