Download or read book Biped Locomotion written by Miomir Vukobratovic and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 366 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Download or read book Feedback Control of Dynamic Bipedal Robot Locomotion written by Eric R. Westervelt and published by CRC Press. This book was released on 2018-10-03 with total page 322 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Download or read book Assessing Bipedal Locomotion Towards Replicable Benchmarks for Robotic and Robot Assisted Locomotion written by Diego Torricelli and published by Frontiers Media SA. This book was released on 2019-12-24 with total page 217 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Biped Locomotion written by Miomir Vukobratovic and published by Springer. This book was released on 1990-02-26 with total page 349 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Download or read book Fuzzy Evolutionary Computation written by Witold Pedrycz and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 325 pages. Available in PDF, EPUB and Kindle. Book excerpt: As of today, Evolutionary Computing and Fuzzy Set Computing are two mature, wen -developed, and higbly advanced technologies of information processing. Bach of them has its own clearly defined research agenda, specific goals to be achieved, and a wen setUed algorithmic environment. Concisely speaking, Evolutionary Computing (EC) is aimed at a coherent population -oriented methodology of structural and parametric optimization of a diversity of systems. In addition to this broad spectrum of such optimization applications, this paradigm otTers an important ability to cope with realistic goals and design objectives reflected in the form of relevant fitness functions. The GA search (which is often regarded as a dominant domain among other techniques of EC such as evolutionary strategies, genetic programming or evolutionary programming) delivers a great deal of efficiency helping navigate through large search spaces. The main thrust of fuzzy sets is in representing and managing nonnumeric (linguistic) information. The key notion (whose conceptual as weH as algorithmic importance has started to increase in the recent years) is that of information granularity. It somewhat concurs with the principle of incompatibility coined by L. A. Zadeh. Fuzzy sets form a vehic1e helpful in expressing a granular character of information to be captured. Once quantified via fuzzy sets or fuzzy relations, the domain knowledge could be used efficiently very often reducing a heavy computation burden when analyzing and optimizing complex systems.

Download or read book Biped Robots written by Armando Carlos De Pina Filho and published by BoD – Books on Demand. This book was released on 2011-02-04 with total page 336 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Download or read book Bipedal Robots written by Christine Chevallereau and published by John Wiley & Sons. This book was released on 2013-03-01 with total page 249 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Download or read book Fast Motions in Biomechanics and Robotics written by Moritz Diehl and published by Springer. This book was released on 2007-07-13 with total page 446 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the past decades, much progress has been made in the field of walking robots. The current state of technology makes it possible to create humanoid robots that nearly walk like a human being, climb stairs, or avoid small - stacles. However, the dream of a robot running as fast and as elegantly as a human is still far from becoming reality. Control of such fast motions is still a big technological issue in robotics, and the maximum running speed of contemporary robots is still much smaller than that of human track runners. The conventional control approach that most of these robots are based on does not seem to be suitable to increase the running speeds up to a biological level. In order to address this challenge, we invited an interdisciplinary community of researchers from robotics, biomechanics, control engineering and applied mathematics to come together in Heidelberg at the Symposium “Fast Motions in Biomechanics and Robotics – Optimization & Feedback Control” which was held at the International Science Forum (IWH) on September 7–9, 2005. The number of participants in this symposium was kept small in order to promote discussions and enable a fruitful exchange of ideas.

Download or read book Feedback Control of Dynamic Bipedal Robot Locomotion written by Eric R. Westervelt and published by CRC Press. This book was released on 2018-10-03 with total page 528 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Download or read book Bioinspired Legged Locomotion written by Maziar Ahmad Sharbafi and published by Butterworth-Heinemann. This book was released on 2017-11-21 with total page 638 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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

Download or read book Multi Locomotion Robotic Systems written by Toshio Fukuda and published by Springer. This book was released on 2012-06-15 with total page 317 pages. Available in PDF, EPUB and Kindle. Book excerpt: Nowadays, multiple attention have been paid on a robot working in the human living environment, such as in the field of medical, welfare, entertainment and so on. Various types of researches are being conducted actively in a variety of fields such as artificial intelligence, cognitive engineering, sensor- technology, interfaces and motion control. In the future, it is expected to realize super high functional human-like robot by integrating technologies in various fields including these types of researches. The book represents new developments and advances in the field of bio-inspired robotics research introducing the state of the art, the idea of multi-locomotion robotic system to implement the diversity of animal motion. It covers theoretical and computational aspects of Passive Dynamic Autonomous Control (PDAC), robot motion control, multi legged walking and climbing as well as brachiation focusing concrete robot systems, components and applications. In addition, gorilla type robot systems are described as hardware of Multi-Locomotion Robotic system. It is useful for students and researchers in the field of robotics in general, bio-inspired robots, multi-modal locomotion, legged walking, motion control, and humanoid robots. Furthermore, it is also of interest for lecturers and engineers in practice building systems cooperating with humans.

Download or read book Springer Handbook of Robotics written by Bruno Siciliano and published by Springer Science & Business Media. This book was released on 2008-05-20 with total page 1626 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the science of robotics undergoing a major transformation just now, Springer’s new, authoritative handbook on the subject couldn’t have come at a better time. Having broken free from its origins in industry, robotics has been rapidly expanding into the challenging terrain of unstructured environments. Unlike other handbooks that focus on industrial applications, the Springer Handbook of Robotics incorporates these new developments. Just like all Springer Handbooks, it is utterly comprehensive, edited by internationally renowned experts, and replete with contributions from leading researchers from around the world. The handbook is an ideal resource for robotics experts but also for people new to this expanding field.

Download or read book ROBOT2013 First Iberian Robotics Conference written by Manuel A. Armada and published by Springer Science & Business Media. This book was released on 2013-11-12 with total page 737 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book contains the proceedings of the ROBOT 2013: FIRST IBERIAN ROBOTICS CONFERENCE and it can be said that included both state of the art and more practical presentations dealing with implementation problems, support technologies and future applications. A growing interest in Assistive Robotics, Agricultural Robotics, Field Robotics, Grasping and Dexterous Manipulation, Humanoid Robots, Intelligent Systems and Robotics, Marine Robotics, has been demonstrated by the very relevant number of contributions. Moreover, ROBOT2013 incorporates a special session on Legal and Ethical Aspects in Robotics that is becoming a topic of key relevance. This Conference was held in Madrid (28-29 November 2013), organized by the Sociedad Española para la Investigación y Desarrollo en Robótica (SEIDROB) and by the Centre for Automation and Robotics - CAR (Universidad Politécnica de Madrid (UPM) and Consejo Superior de Investigaciones Científicas (CSIC)), along with the co-operation of Grupo Temático de Robótica CEA-GTRob, "Sociedade Portuguesa de Robotica" (SPR), "Asociación Española de Promoción de la Investigación en Agentes Físicos" (RedAF), and partially supported by "Comunidad de Madrid under RoboCity2030 Programme".

Download or read book Artificial Neural Networks ICANN 2002 written by Jose R. Dorronsoro and published by Springer. This book was released on 2003-08-03 with total page 1384 pages. Available in PDF, EPUB and Kindle. Book excerpt: The International Conferences on Arti?cial Neural Networks, ICANN, have been held annually since 1991 and over the years have become the major European meeting in neural networks. This proceedings volume contains all the papers presented at ICANN 2002, the 12th ICANN conference, held in August 28– 30, 2002 at the Escuela T ́ecnica Superior de Inform ́atica of the Universidad Aut ́onoma de Madrid and organized by its Neural Networks group. ICANN 2002 received a very high number of contributions, more than 450. Almost all papers were revised by three independent reviewers, selected among the more than 240 serving at this year’s ICANN, and 221 papers were ?nally selected for publication in these proceedings (due to space considerations, quite a few good contributions had to be left out). I would like to thank the Program Committee and all the reviewers for the great collective e?ort and for helping us to have a high quality conference.

Download or read book Contemporary Computing written by Srinivas Aluru and published by Springer Science & Business Media. This book was released on 2011-07-06 with total page 580 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume constitutes the refereed proceedings of the Fourth International Conference on Contemporary Computing, IC3 2010, held in Noida, India, in August 2011. The 58 revised full papers presented were carefully reviewed and selected from 175 submissions.

Download or read book Artificial Life Models in Hardware written by Andrew Adamatzky and published by Springer Science & Business Media. This book was released on 2009-05-20 with total page 280 pages. Available in PDF, EPUB and Kindle. Book excerpt: Hopping, climbing and swimming robots, nano-size neural networks, motorless walkers, slime mould and chemical brains - "Artificial Life Models in Hardware" offers unique designs and prototypes of life-like creatures in conventional hardware and hybrid bio-silicon systems. Ideas and implementations of living phenomena in non-living substrates cast a colourful picture of state-of-art advances in hardware models of artificial life.

Download or read book Digital Human Modeling written by Vincent G. Duffy and published by Springer Science & Business Media. This book was released on 2009-07-14 with total page 775 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 13th International Conference on Human–Computer Interaction, HCI Inter- tional 2009, was held in San Diego, California, USA, July 19–24, 2009, jointly with the Symposium on Human Interface (Japan) 2009, the 8th International Conference on Engineering Psychology and Cognitive Ergonomics, the 5th International Conference on Universal Access in Human–Computer Interaction, the Third International Conf- ence on Virtual and Mixed Reality, the Third International Conference on Internati- alization, Design and Global Development, the Third International Conference on Online Communities and Social Computing, the 5th International Conference on Augmented Cognition, the Second International Conference on Digital Human Mod- ing, and the First International Conference on Human Centered Design. A total of 4,348 individuals from academia, research institutes, industry and gove- mental agencies from 73 countries submitted contributions, and 1,397 papers that were judged to be of high scientific quality were included in the program. These papers - dress the latest research and development efforts and highlight the human aspects of the design and use of computing systems. The papers accepted for presentation thoroughly cover the entire field of human–computer interaction, addressing major advances in knowledge and effective use of computers in a variety of application areas.