By Professor Miomir Vukobratović D. Sc., Ph. D., Assoc. professor Branislav Borovac Ph. D., Assoc. professor Dušan Surla Ph. D., Assoc. professor Dragan Stokić Ph. D. (auth.)
Here for the 1st time in a single booklet is a finished and systematic method of the dynamic modeling and keep watch over of biped locomotion robots. A survey is integrated of assorted ways to the keep watch over of biped robots, and a brand new method of the regulate of biped platforms in response to an entire dynamic version is gifted intimately. the soundness of entire biped process is gifted for the 1st time as a hugely nonlinear dynamic process. additionally integrated is new software program for the synthesis of a dynamically good stroll for arbitrary biped structures, offered right here for the 1st time. A survey of assorted realizations of biped structures and diverse numerical examples are given. The reader is given a deep perception into the full region of biped locomotion. The ebook covers all suitable methods to the topic and provides the main entire account up to now of dynamic modeling, keep an eye on and realizations of biped systems.
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Extra resources for Biped Locomotion: Dynamics, Stability, Control and Application
Dynamic Walk of Biped", The International Journal of Robotics Research, Vol. 2, 1984. , "Control of a Dynamical Biped Locomotion System for Steady Walking", Journal of Dynamic Systems, l-1easurement and Control, Vol. 108, June 1986. , "Physical and Mathematical Model of Human Locomotor Apparatus", Protezirovanie i protezostroenie, Vol. 33, Moscow, 1974. , "Determination of Joint Moments During Locomotion" (in Russian), Biofizika, Vol. 2, 1970. , "Contribution to the Synthesis of Biped Gait", IEEE Trans.
The equations of motion obtained are then used to study the behaviour of the system under the imposed gait and the repeatability conditions. Angular motion of links The angular motion of links is treated by using the coordinate frames given in Fig. 2. The Euler's angles adopted (e, w and ~) are shown in the same figure. nW : [ 0 0 0 -'~n' 1 cos1/! e. 2) The time rate of change of components of angular velocity will be that after expanding the right-hand side gives Here the matrix [~1) stands for 34 [ [~1) -s~n.
Q·i·jq n L i=1 j=1 ~J pY( n I i=1 1 .. q + ~ + p X( nL 2.. j L b .. j Lb .. 14) where the superscripts X, Y denote the components in the direction of the corresponding axis. 14). f. 14) does not contain the information about the gait type, the trajectories for the rest (n-3) coordinates should be prescribed in such a way to ensure the desired legs' trajectories. It is the easiest and most suitable way to adopt this information from measurements of human gait parameters. In this manner, the problem of legs' trajectories synthesis is avoided, since the criteria which have to be satisfied in the synthesis of a desired gait type are unknown.