Hybrid Control and Motion Planning of Dynamical Legged Locomotion #933512
- Sadati Nasser; Dumont Guy A.; Hamed Kaveh Akabri; Gruver William A.
- Технические науки и промышленность в целом
- John Wiley & Sons Limited (prof) EUR
- PDF книга
- 286 стр
- John Wiley & Sons Limited
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.