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Informationen zum Autor NASSER SADATI is Professor in the Department of Electrical Engineering, Sharif University of Technology, Tehran, Iran. GUY A. DUMONT is Professor in the Department of Electrical and Computer Engineering, The University of British Columbia, Vancouver, BC, Canada. KAVEH AKBARI HAMED is Postdoctoral Research Fellow at the Electrical Engineering and Computer Science Department, University of Michigan, Ann Arbor, MI, USA. WILLIAM A. GRUVER is Professor Emeritus in the School of Engineering Science, Simon Fraser University, Burnaby, BC, Canada. Klappentext A much-needed, state-of-the-art guide on building complex legged robotsRobot control of dynamical legged locomotion has seen tremendous advances in recent decades, with hundreds of walking mechanisms being built in laboratories worldwide, helping people with disabilities and serving as replacements for humans operating in hazardous environments. 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 the engineering detail readers' need to achieve dynamical legged locomotion, 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. Researchers and practicing engineers familiar with robotics and control systems will gain a thorough understanding of:* Hybrid systems and systems with impulse effects* Offline and online motion planning algorithms to generate periodic walking and running motions* Two-level control schemes, including within-stride feedback laws to reduce the dimension of the hybrid systems* Continuous-time update laws to minimize a general cost function online* Event-based update laws to asymptotically stabilize periodic orbitsComplete with downloadable MATLAB code of the control algorithms and schemes used in the book, Hybrid Control and Motion Planning of Dynamical Legged Locomotion is an invaluable guide to the latest developments and future trends in dynamical legged locomotion. Zusammenfassung 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. Inhaltsverzeichnis Preface ix 1. Introduction 1 1.1 Objectives of Legged Locomotion and Challenges in Controlling Dynamic Walking and Running 1 1.2 Literature Overview 4 1.2.1 Tracking of Time Trajectories 4 1.2.2 Poincar¿e Return Map and Hybrid Zero Dynamics 5 1.3 The Objective of the Book 7 1.3.1 Hybrid Zero Dynamics in Walking with Double Support Phase 7 1.3.2 Hybrid Zero Dynamics in Running with an Online Motion Planning Algorithm 8 1.3.3 Online Motion Planning Algorithms for Flight Phases of Running 9 1.3.4 Hybrid Zero Dynamics in 3D Running 10 1.3.5 Hybrid Zero Dynamics in Walking with Passive Knees 11 1.3.6 Hybrid Zero Dynamics with Continuous-Time Update Laws 12 2. Preliminaries in Hybrid Systems 13 2.1 Basic Definitions 13 2.2 Poincar¿e Return Map for Hybrid Systems 16 2.3 Low-Dimensional Stability Anal...
