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Feedback Control of Dynamic Bipedal Robot Locomotion
Abstract
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 robotsAnalysis of periodic orbits in hybrid systemsDesign and analysis of feedback systems for achieving stable periodic motionsAlgorithms for synthesizing feedback controllersDetailed simulation examplesExperimental implementations on two bipedal test bedsThe 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.
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Cited by
A direct method for trajectory optimization of rigid bodies through contact
Posa, M., Cantu, C., & Tedrake, R. (2014) · The International Journal of Robotics Research · doi:10.1177/0278364913506757 · Cited by 597
Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics
Ames, A. D., Galloway, K., Sreenath, K., & Grizzle, J. W. (2014) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2014.2299335 · Cited by 440
Self-citationPredictive Entropy Search for Efficient Global Optimization of Black-box Functions
Hernández-Lobato, J. M., Hoffman, M. W., & Ghahramani, Z. (2014) · arXiv · doi:10.48550/arxiv.1406.2541 · Cited by 407
Models, feedback control, and open problems of 3D bipedal robotic walking
Grizzle, J. W., Chevallereau, C., Sinnet, R. W., & Ames, A. D. (2014) · Automatica · doi:10.1016/j.automatica.2014.04.021 · Cited by 321
Self-citationFeedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway
Gong, Y., Hartley, R., Da, X., Hereid, A., Harib, O., Huang, J.-K., & Grizzle, J. (2019) · 2019 American Control Conference (ACC) · doi:10.23919/acc.2019.8814833 · Cited by 221
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Metadata
- Authors
- Westervelt, E. R., Grizzle, J. W., Chevallereau, C., Choi, J. H., & Morris, B.
- Venue
- CRC Press eBooks
- Publisher
- CRC Press
- Published
- 2018-10-03
- OpenAlex
- W1504362584
- Cited by
- 1,070
- References
- 0
- Type
- reference entry
- Language
- en
- Open access
- closed
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- Westervelt, E. R., Grizzle, J. W., Chevallereau, C., Choi, J. H., & Morris, B. (2018). Feedback Control of Dynamic Bipedal Robot Locomotion. CRC Press eBooks. https://doi.org/10.1201/9781420053739
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