Hybrid Control and Motion Planning of Dynamical Legged Locomotion

Nonfiction, Science & Nature, Technology, Robotics
Cover of the book Hybrid Control and Motion Planning of Dynamical Legged Locomotion by Nasser Sadati, Guy A. Dumont, Kaveh Akabri Hamed, William A. Gruver, Wiley
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Author: Nasser Sadati, Guy A. Dumont, Kaveh Akabri Hamed, William A. Gruver ISBN: 9781118393727
Publisher: Wiley Publication: September 11, 2012
Imprint: Wiley-IEEE Press Language: English
Author: Nasser Sadati, Guy A. Dumont, Kaveh Akabri Hamed, William A. Gruver
ISBN: 9781118393727
Publisher: Wiley
Publication: September 11, 2012
Imprint: Wiley-IEEE Press
Language: English

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.

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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.

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