Modeling and control for efficient bipedal walking robots: a port-based approach

The gap between theoretically well-understood position-controlled walking robots and experimentally-designed uncontrolled passive-dynamic walkers is nevertheless large, and extending a passive-dynamic walker to be more robust and versatile is non-trivial. The purpose of this work is to present a set of mathematical tools that can simplify studying robotic walking motions and designing energy-efficient controllers. The authors extend classical dynamic modeling methods and view robots and controllers as energy-exchanging physical systems, which forms the basisof the so-called port-based approach. They show how such methods can be used to analyze walking mechanisms, find efficient walking trajectories, and design controllers that increase robustness and stability with minimal energy cost. Extensive examples and illustrations are used with the objective to make the mathematics intuitive and accessible to everyone with an engineering background. Presents a complete framework for modeling, analysis, and control of walking robots and complex mechanical systems in general Provides tools and methods to analyze and improve the design of passive or almost- passive walking robots Gives an introduction to the use of port-Hamiltonian concepts in mechanics and robotics Extends classical dynamics equations for multibodysystems to handle more general joints INDICE: Introduction.- Modeling of Rigid Mechanisms.- Modeling of Compliant and Rigid Contact.- Modeling and Analysis of Walking Robots.- Control of Walking Robots.- Conclusions.

• ISBN: 978-3-540-89917-4
• Editorial: Springer
• Encuadernacion: Cartoné
• Páginas: 210
• Fecha Publicación: 01/01/2009
• Nº Volúmenes: 1
• Idioma: Inglés