Hybrid control and motion planning of dynamical legged locomotion

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| 2012

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Type of Document: Book
Publisher: Hoboken, N.J : Wiley , 2012
Notes: "Also in electronic format is available"
Abstract:
This book provides a comprehensive presentation of issues and challenges faced by researchers and practicing engineers in motion planning and hybrid control of dynamical legged locomotion. The major features range from offline and online motion planning algorithms to generate desired feasible periodic walking and running motions and tow-level control schemes, including within-stride feedback laws, continuous time update laws and event-based update laws, to asymptotically stabilize the generated desired periodic orbits. This book describes the current state of the art and future directions across all domains of dynamical legged locomotion so that readers can extend proposed motion planning algorithms and control methodologies to other This book provides a comprehensive presentation of issues and challenges faced by researchers and practicing engineers in motion planning and hybrid control of dynamical legged locomotion
Keywords:
Mobile robots ; Robots -- Motion ; Walking

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