Sadati / Dumont / Hamed Hybrid Control and Motion Planning of Dynamical Legged Locomotion

1. Auflage 2012
ISBN: 978-1-118-39372-7
Verlag: John Wiley & Sons
Format: EPUB
Kopierschutz: Adobe DRM (»Systemvoraussetzungen)

E-Book, Englisch, 272 Seiten, E-Book

Reihe: IEEE Series on Systems Science and Engineering

This book addresses the need in the field for a comprehensive review of motion planning algorithms and hybrid control methodologies for complex legged robots. Introducing a multidisciplinary systems engineering approach for tackling many challenges posed by legged locomotion, the book provides engineering detail including hybrid models for planar and 3D legged robots, as well as hybrid control schemes for asymptotically stabilizing periodic orbits in these closed-loop systems. Complete with downloadable MATLAB code of the control algorithms and schemes used in the book, this book is an invaluable guide to the latest developments and future trends in dynamical legged locomotion.

Autoren/Hrsg.

Sadati, Nasser

Dumont, Guy A.

Hamed, Kaveh Akabri

Gruver, William A.

Über Autor(innen)

NASSER SADATI is Professor in the Department ofElectrical Engineering, Sharif University of Technology, Tehran,Iran.
GUY A. DUMONT is Professor in the Department ofElectrical and Computer Engineering, The University of BritishColumbia, Vancouver, BC, Canada.
KAVEH AKBARI HAMED is Postdoctoral Research Fellow at theElectrical Engineering and Computer Science Department, Universityof Michigan, Ann Arbor, MI, USA.
WILLIAM A. GRUVER is Professor Emeritus in the School ofEngineering Science, Simon Fraser University, Burnaby, BC,Canada.