Bipedal Robots
DOWNLOAD
Download Bipedal Robots PDF/ePub or read online books in Mobi eBooks. Click Download or Read Online button to get Bipedal Robots book now. This website allows unlimited access to, at the time of writing, more than 1.5 million titles, including hundreds of thousands of titles in various foreign languages. If the content not found or just blank you must refresh this page
Bipedal Robots
DOWNLOAD
Author : Christine Chevallereau
language : en
Publisher: John Wiley & Sons
Release Date : 2013-03-01
Bipedal Robots written by Christine Chevallereau and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-03-01 with Technology & Engineering categories.
Bipedal Robots: Modeling, Design and Walking Synthesis 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.
Biped Robots
DOWNLOAD
Author : Armando Carlos De Pina Filho
language : en
Publisher: BoD – Books on Demand
Release Date : 2011-02-04
Biped Robots written by Armando Carlos De Pina Filho and has been published by BoD – Books on Demand this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-02-04 with Technology & Engineering categories.
Biped robots represent a very interesting research subject, with several particularities and scope topics, such as: mechanical design, gait simulation, patterns generation, kinematics, dynamics, equilibrium, stability, kinds of control, adaptability, biomechanics, cybernetics, and rehabilitation technologies. We have diverse problems related to these topics, making the study of biped robots a very complex subject, and many times the results of researches are not totally satisfactory. However, with scientific and technological advances, based on theoretical and experimental works, many researchers have collaborated in the evolution of the biped robots design, looking for to develop autonomous systems, as well as to help in rehabilitation technologies of human beings. Thus, this book intends to present some works related to the study of biped robots, developed by researchers worldwide.
Feedback Control Of Dynamic Bipedal Robot Locomotion
DOWNLOAD
Author : Eric R. Westervelt
language : en
Publisher: CRC Press
Release Date : 2018-10-03
Feedback Control Of Dynamic Bipedal Robot Locomotion written by Eric R. Westervelt and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-10-03 with Technology & Engineering categories.
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.
Bio Inspired Robotics
DOWNLOAD
Author : Toshio Fukuda
language : en
Publisher: MDPI
Release Date : 2018-11-07
Bio Inspired Robotics written by Toshio Fukuda and has been published by MDPI this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-11-07 with Technology & Engineering categories.
This book is a printed edition of the Special Issue "Bio-Inspired Robotics" that was published in Applied Sciences
Disturbance Rejection Control For Bipedal Robot Walkers
DOWNLOAD
Author : Jaime Arcos Legarda
language : en
Publisher: Universidad Nacional de Colombia
Release Date : 2022-12-31
Disturbance Rejection Control For Bipedal Robot Walkers written by Jaime Arcos Legarda and has been published by Universidad Nacional de Colombia this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-12-31 with Business & Economics categories.
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.
An Overview On Balancing And Stabilization Control Of Biped Robots
DOWNLOAD
Author : Hayder Al-Shuka
language : en
Publisher: GRIN Verlag
Release Date : 2017-10-17
An Overview On Balancing And Stabilization Control Of Biped Robots written by Hayder Al-Shuka and has been published by GRIN Verlag this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-10-17 with Technology & Engineering categories.
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.
Wearable Robots
DOWNLOAD
Author : José L. Pons
language : en
Publisher: John Wiley & Sons
Release Date : 2008-03-17
Wearable Robots written by José L. Pons and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-03-17 with Medical categories.
A wearable robot is a mechatronic system that is designed around the shape and function of the human body, with segments and joints corresponding to those of the person it is externally coupled with. Teleoperation and power amplification were the first applications, but after recent technological advances the range of application fields has widened. Increasing recognition from the scientific community means that this technology is now employed in telemanipulation, man-amplification, neuromotor control research and rehabilitation, and to assist with impaired human motor control. Logical in structure and original in its global orientation, this volume gives a full overview of wearable robotics, providing the reader with a complete understanding of the key applications and technologies suitable for its development. The main topics are demonstrated through two detailed case studies; one on a lower limb active orthosis for a human leg, and one on a wearable robot that suppresses upper limb tremor. These examples highlight the difficulties and potentialities in this area of technology, illustrating how design decisions should be made based on these. As well as discussing the cognitive interaction between human and robot, this comprehensive text also covers: the mechanics of the wearable robot and it’s biomechanical interaction with the user, including state-of-the-art technologies that enable sensory and motor interaction between human (biological) and wearable artificial (mechatronic) systems; the basis for bioinspiration and biomimetism, general rules for the development of biologically-inspired designs, and how these could serve recursively as biological models to explain biological systems; the study on the development of networks for wearable robotics. Wearable Robotics: Biomechatronic Exoskeletons will appeal to lecturers, senior undergraduate students, postgraduates and other researchers of medical, electrical and bio engineering who are interested in the area of assistive robotics. Active system developers in this sector of the engineering industry will also find it an informative and welcome resource.
Locomotion Analysis And Control Of A Miniature Bipedal Robot
DOWNLOAD
Author : Junjie Shen
language : en
Publisher:
Release Date : 2022
Locomotion Analysis And Control Of A Miniature Bipedal Robot written by Junjie Shen and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022 with categories.
From the dawn of time humans have been trying to recreate themselves with the technology of each age. What is impressive about humans is their capabilities of navigating the world and manipulating the world around them. It is these abilities that we wish to replicate in machines which can potentially overturn our daily lives. The recent advancements of robotics allow us to get closer than ever before to this realm of fantasy. For decades we have seen the incredible performance of automation robots in the factories, but we still have yet to see humanoid robots be utilized to aid humans in the everyday world. This is due in large part to the fact that the approaches to effectively navigating these two environments are different. The automation robots operate in the specifically structured environments. They are usually fully actuated with their bases being fixed, which grants them full control authority at all times. Simple control strategies are adequate under these conditions. Unfortunately, this is not the case with the humanoid robots in the real world. Significantly faster development in quadruped robots than humanoid robots has been witnessed as recently there has been a large surge in the number of quadruped robots available for commercial use. Compared to quadruped robots, humanoid robots are typically more mechanically complex and intrinsically unstable. This poses two critical challenges in the study of humanoid robots. First, accessibility to the physical hardware is limited as either it takes too much effort to develop a humanoid robot platform independently, or the commercially available ones, if any, are too expensive to afford. Second, as the humanoid robot system is considerably more challenging than the quadruped robot system, more advanced and efficient control algorithms are essential, especially when it comes to robust bipedal locomotion which is the fundamental capability of humanoid robots. This dissertation aims at addressing some of the problems in these challenges. First, a next-generation miniature bipedal robot with proprioceptive actuation capable of dynamic behaviors is being under development. The robot is named BRUCE - Bipedal Robot Unit with Compliance Enhanced. The BRUCE robot is desired to serve as an accessible and reliable humanoid robot platform for general research purposes. It is expected to become open-source with an affordable price for the robotics community in the near future. Second, a state-of-the-art dynamic bipedal locomotion control framework is being studied. The approach is general and versatile as it is able to achieve a strong robustness of stabilizing a wide range of dynamic bipedal locomotion gaits including walking, running, and hopping. The effectiveness of the locomotion control framework was validated on the BRUCE robot both in simulation and with physical hardware.
Dynamic Stabilisation Of The Biped Lucy Powered By Actuators With Controllable Stiffness
DOWNLOAD
Author : Bram Vanderborght
language : en
Publisher: Springer
Release Date : 2010-09-07
Dynamic Stabilisation Of The Biped Lucy Powered By Actuators With Controllable Stiffness written by Bram Vanderborght and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-09-07 with Technology & Engineering categories.
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.
The Design And Construction Of A Biped Robot For All Terrain Project Brat
DOWNLOAD
Author : Robert G. Hillaire
language : en
Publisher:
Release Date : 1993
The Design And Construction Of A Biped Robot For All Terrain Project Brat written by Robert G. Hillaire and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1993 with categories.