Feedback Control of Dynamic Bipedal Robot Locomotion

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…