Modeling And Control For Efficient Bipedal Walking Robots

Author : Vincent Duindam,Stefano Stramigioli
Publisher : Springer Science & Business Media
Page : 219 pages
File Size : 48,5 Mb
Release : 2009-01-17
Category : Technology & Engineering
ISBN : 9783540899174

Get Book

Modeling and Control for Efficient Bipedal Walking Robots by Vincent Duindam,Stefano Stramigioli Pdf

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.

Author : Katja Mombaur,Karsten Berns
Publisher : Springer Science & Business Media
Page : 289 pages
File Size : 48,9 Mb
Release : 2013-02-28
Category : Technology & Engineering
ISBN : 9783642363689

Get Book

Modeling, Simulation and Optimization of Bipedal Walking by Katja Mombaur,Karsten Berns Pdf

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.

Author : Christine Chevallereau,Guy Bessonnet,Gabriel Abba,Yannick Aoustin
Publisher : John Wiley & Sons
Page : 249 pages
File Size : 45,7 Mb
Release : 2013-03-01
Category : Technology & Engineering
ISBN : 9781118622971

Get Book

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.

Author : Ashish Thakur,Aayush Dhiman,Sudhir Kumar
Publisher : Independently Published
Page : 50 pages
File Size : 42,6 Mb
Release : 2018-10-07
Category : Education
ISBN : 1724180398

Get Book

Modeling and Designing Bipedal Walking Robot by Ashish Thakur,Aayush Dhiman,Sudhir Kumar Pdf

A humanoid robot is a robot with its body shape built to resemble the human body. The design may be for functional purposes, such as interacting with human tools and environments, for experimental purposes, such as the study of al locomotion or for other purposes. In general, humanoid robots have a torso, a head, two arms, and two legs, though some forms of humanoid robots may model only part of the body, for example, from the waist up. Some humanoid robot also have heads designed to replicate human facial features such as eyes and mouths. Androids are humanoid robots built to aesthetically resemble humans. It is easier for bipedal robots to exist in a human oriented environment than for other types of robots. Furthermore, dynamic walking is more efficient than static walking. For a biped robot achieve dynamic balance while walking, a dynamic gait must be developed. Two different approaches to gait generation are presented

Author : Eric R. Westervelt,Jessy W. Grizzle,Christine Chevallereau,Jun Ho Choi,Benjamin Morris
Publisher : CRC Press
Page : 322 pages
File Size : 55,7 Mb
Release : 2018-10-03
Category : Technology & Engineering
ISBN : 9781351835312

Get Book

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.

Author : Thomas Buschmann
Publisher : Unknown
Page : 181 pages
File Size : 47,7 Mb
Release : 2011
Category : Electronic
ISBN : 3868538046

Get Book

Simulation and Control of Biped Walking Robots by Thomas Buschmann Pdf

Author : Miomir Vukobratovic,Branislav Borovac,Dusan Surla,Dragan Stokic
Publisher : Springer Science & Business Media
Page : 366 pages
File Size : 42,6 Mb
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 9783642830068

Get Book

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.

Author : Bram Vanderborght
Publisher : Springer Science & Business Media
Page : 290 pages
File Size : 53,5 Mb
Release : 2010-10-04
Category : Technology & Engineering
ISBN : 9783642134166

Get Book

Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness by Bram Vanderborght Pdf

This book reports on the developments of the bipedal walking robot Lucy. Special about it is that the biped is not actuated with the classical electrical drives but with pleated pneumatic artificial muscles. In an antagonistic setup of such muscles both the torque and the compliance are controllable. From human walking there is evidence that joint compliance plays an important role in energy efficient walking and running. Moreover pneumatic artificial muscles have a high power to weight ratio and can be coupled directly without complex gearing mechanism, which can be beneficial towards legged mechanisms. Additionally, they have the capability of absorbing impact shocks and store and release motion energy. This book gives a complete description of Lucy: the hardware, the electronics and the software. A hybrid simulation program, combining the robot dynamics and muscle/valve thermodynamics, has been written to evaluate control strategies before implementing them in the real biped.

Author : Phillippe Bidaud,Faiz Ben Amar
Publisher : John Wiley & Sons
Page : 1080 pages
File Size : 52,8 Mb
Release : 2002-11-08
Category : Technology & Engineering
ISBN : 1860583806

Get Book

Climbing and Walking Robots and the Support Technologies for Mobile Machines by Phillippe Bidaud,Faiz Ben Amar Pdf

Robotic technology advances for a wide variety of applications Climbing and Walking Robots and the Support Technologies for Mobile Machines explores the increasing interest in real-world robotics and the surge in research and invention it has inspired. Featuring the latest advances from leading robotics labs around the globe, this book presents solutions for perennial challenges in robotics and suggests directions for future research. With applications ranging from personal services and entertainment to emergency rescue and extreme environment intervention, the groundbreaking work presented here provides a glimpse of the future.

Author : Maziar Ahmad Sharbafi,André Seyfarth
Publisher : Butterworth-Heinemann
Page : 638 pages
File Size : 43,8 Mb
Release : 2017-11-21
Category : Technology & Engineering
ISBN : 9780128037744

Get Book

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

Author : Hayder Al-Shuka
Publisher : GRIN Verlag
Page : 27 pages
File Size : 48,9 Mb
Release : 2017-10-17
Category : Technology & Engineering
ISBN : 9783668550339

Get Book

An Overview on Balancing and Stabilization Control of Biped Robots by Hayder Al-Shuka Pdf

Academic Paper from the year 2017 in the subject Engineering - Robotics, , language: English, abstract: Researchers dream of developing autonomous humanoid robots which behave/walk like a human being. Biped robots, although complex, have the greatest potential for use in human-centered environments such as the home or office. Studying biped robots is also important for understanding human locomotion and improving control strategies for prosthetic and orthotic limbs. Control systems of humans walking in cluttered environments are complex, however, and may involve multiple local controllers and commands from the cerebellum. Although biped robots have been of interest over the last four decades, no unified stability/balance criterion adopted for stabilization of miscellaneous walking/running modes of biped robots has so far been available. The literature is scattered and it is difficult to construct a unified background for the balance strategies of biped motion. The zero-moment point (ZMP) criterion, however, is a conservative indicator of stabilized motion for a class of biped robots. Therefore, we offer a systematic presentation of multi-level balance controllers for stabilization and balance recovery of ZMP-based humanoid robots.

Author : Miomir Vukobratovic,Branislav Borovac,Dusan Surla,Dragan Stokic
Publisher : Springer
Page : 349 pages
File Size : 55,6 Mb
Release : 1990-02-26
Category : Technology & Engineering
ISBN : 3540174567

Get Book

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.

Author : Wen-Hong Zhu
Publisher : Springer
Page : 448 pages
File Size : 40,8 Mb
Release : 2010-04-06
Category : Technology & Engineering
ISBN : 9783642107245

Get Book

Virtual Decomposition Control by Wen-Hong Zhu Pdf

Driven by the need to achieve superior control performances for robots with hyper degrees of freedom, the virtual decomposition control approach is thoroughly presented in this book. This approach uses subsystem (such as links and joints of a complex robot) dynamics to conduct control design, while guaranteeing the stability and convergence of the entire complex robot without compromising the rigorousness of the system analysis. The central concept of this approach is the definition of the virtual stability. The stability of the entire complex robot is mathematically equivalent to the virtual stability of every subsystem. This fact allows us to convert a large problem to a few simple problems with mathematical certainty. This book comprises fourteen chapters. The first five chapters form the foundation of this approach. The remaining nine chapters are relatively independent. Starting from Chapter 6, each chapter deals with a particular type of systems including motor/transmission assemblies, hydraulic robots, coordinated multiple robots, space robots, humanoid robots, adaptive teleoperation, and modular robot manipulators. At the end, the extensions of this approach to distributed-parameter systems and to electrical circuits are given, paving the way for other applications to follow. This book is intended for practitioners, researchers, and graduate students who have acquired fundamental knowledge on robotics and control systems and have been committed to achieving the best control performances on complex robotics systems and beyond.

Author : Bojan Jakimovski
Publisher : Springer Science & Business Media
Page : 203 pages
File Size : 49,9 Mb
Release : 2011-08-20
Category : Technology & Engineering
ISBN : 9783642225055

Get Book

Biologically Inspired Approaches for Locomotion, Anomaly Detection and Reconfiguration for Walking Robots by Bojan Jakimovski Pdf

The increasing presence of mobile robots in our everyday lives introduces the requirements for their intelligent and autonomous features. Therefore the next generation of mobile robots should be more self-capable, in respect to: increasing of their functionality in unforeseen situations, decreasing of the human involvement in their everyday operations and their maintenance; being robust; fault tolerant and reliable in their operation. Although mobile robotic systems have been a topic of research for decades and aside the technology improvements nowadays, the subject on how to program and making them more autonomous in their operations is still an open field for research. Applying bio-inspired, organic approaches in robotics domain is one of the methodologies that are considered that would help on making the robots more autonomous and self-capable, i.e. having properties such as: self-reconfiguration, self-adaptation, self-optimization, etc. In this book several novel biologically inspired approaches for walking robots (multi-legged and humanoid) domain are introduced and elaborated. They are related to self-organized and self-stabilized robot walking, anomaly detection within robot systems using self-adaptation, and mitigating the faulty robot conditions by self-reconfiguration of a multi-legged walking robot. The approaches presented have been practically evaluated in various test scenarios, the results from the experiments are discussed in details and their practical usefulness is validated.

Author : Daisuke Chugo,Mohammad Osman Tokhi,Manuel F. Silva,Taro Nakamura,Khaled Goher
Publisher : Springer Nature
Page : 508 pages
File Size : 46,5 Mb
Release : 2021-09-03
Category : Technology & Engineering
ISBN : 9783030862947

Get Book

Robotics for Sustainable Future by Daisuke Chugo,Mohammad Osman Tokhi,Manuel F. Silva,Taro Nakamura,Khaled Goher Pdf

This book presents the proceedings of 24th International Conference Series on Climbing and Walking Robots. CLAWAR 2021 is the twenty-fourth edition of International Conference series on Climbing and Walking Robots and the Support Technologies for Mobile Machines. The conference is organized by CLAWAR Association in collaboration with Kwansei Gakuin University on a virtual platform in Takarazuka, Japan, during 30 August–01 September 2021. CLAWAR 2021 brings new developments and new research findings in robotics technologies within the framework of “Robotics for Sustainable Future”. The topics covered include biped locomotion, human–machine/human–robot interaction, innovative actuators, power supplies and design of CLAWAR, inspection, legged locomotion, modelling and simulation of CLAWAR, outdoor and field robotics, planning and control, and wearable devices and assistive robotics. The intended readership includes participants of CLAWAR 2021 conference, international robotic researchers, scientists, professors of related topics worldwide, and professors and students of postgraduate courses in Robotics and Automation, Control Engineering, Mechanical Engineering, and Mechatronics.