Bipedal Robots: Modeling, Design and Walking Synthesis (Hardcover)

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.

本書介紹了各種技術來進行步態建模、步態模式合成和雙足機器人的控制。書中提供了有關人類行走的一些基本信息，介紹了目前實驗中的雙足機器人以及步行雙足機器人的應用。建模是基於將行走步驟分解為不同的子階段，具體取決於每隻腳在地面上的接觸方式。機器人設計根據質量分佈和致動器的選擇進行處理。考慮了不同的生成步態模式的方法，例如被動行走和使用優化技術進行步態合成。介紹了基於機器人建模、神經網絡方法或直觀方法的控制方法。通過在線適應所需運動來處理接觸的單邊性。