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Produktbild: Hybrid Control and Motion Planning of Dynamical Legged Locomotion

Hybrid Control and Motion Planning of Dynamical Legged Locomotion

Aus der Reihe IEEE Series on Systems Science and Engineering

141,99 €

inkl. gesetzl. MwSt., Versandkostenfrei

Beschreibung

Produktdetails

Einband

Gebundene Ausgabe

Erscheinungsdatum

02.10.2012

Verlag

John Wiley & Sons Inc

Seitenzahl

272

Maße (L/B/H)

23,6/16,3/2,5 cm

Gewicht

612 g

Auflage

1. Auflage

Sprache

Englisch

ISBN

978-1-118-31707-5

Beschreibung

Produktdetails

Einband

Gebundene Ausgabe

Erscheinungsdatum

02.10.2012

Verlag

John Wiley & Sons Inc

Seitenzahl

272

Maße (L/B/H)

23,6/16,3/2,5 cm

Gewicht

612 g

Auflage

1. Auflage

Sprache

Englisch

ISBN

978-1-118-31707-5

Herstelleradresse

Libri GmbH
Europaallee 1
36244 Bad Hersfeld
DE

Email: GPSR Kontakt

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  • Produktbild: Hybrid Control and Motion Planning of Dynamical Legged Locomotion
  • Preface ix
     
    1. Introduction 1
     
    1.1 Objectives of Legged Locomotion and Challenges in Controlling Dynamic Walking and Running 1
     
    1.2 Literature Overview 4
     
    1.2.1 Tracking of Time Trajectories 4
     
    1.2.2 Poincar´e Return Map and Hybrid Zero Dynamics 5
     
    1.3 The Objective of the Book 7
     
    1.3.1 Hybrid Zero Dynamics in Walking with Double Support Phase 7
     
    1.3.2 Hybrid Zero Dynamics in Running with an Online Motion Planning Algorithm 8
     
    1.3.3 Online Motion Planning Algorithms for Flight Phases of Running 9
     
    1.3.4 Hybrid Zero Dynamics in 3D Running 10
     
    1.3.5 Hybrid Zero Dynamics in Walking with Passive Knees 11
     
    1.3.6 Hybrid Zero Dynamics with Continuous-Time Update Laws 12
     
    2. Preliminaries in Hybrid Systems 13
     
    2.1 Basic Definitions 13
     
    2.2 Poincar´e Return Map for Hybrid Systems 16
     
    2.3 Low-Dimensional Stability Analysis 23
     
    2.4 Stabilization Problem 28
     
    3. Asymptotic Stabilization of Periodic Orbits forWalking with Double Support Phase 35
     
    3.1 Introduction 35
     
    3.2 Mechanical Model of a Biped Walker 37
     
    3.2.1 The Biped Robot 37
     
    3.2.2 Dynamics of the Flight Phase 37
     
    3.2.3 Dynamics of the Single Support Phase 39
     
    3.2.4 Dynamics of the Double Support Phase 40
     
    3.2.5 Impact Model 43
     
    3.2.6 Transition from the Double Support Phase to the Single Support Phase 45
     
    3.2.7 Hybrid Model of Walking 45
     
    3.3 Control Laws for the Single and Double Support Phases 46
     
    3.3.1 Single Support Phase Control Law 46
     
    3.3.2 Double Support Phase Control Law 49
     
    3.4 Hybrid Zero Dynamics (HZD) 54
     
    3.4.1 Analysis of HZD in the Single Support Phase 55
     
    3.4.2 Analysis of HZD in the Double Support Phase 57
     
    3.4.3 Restricted Poincar´e Return Map 58
     
    3.5 Design of an HZD Containing a Prespecified Periodic Solution 60
     
    3.5.1 Design of the Output Functions 60
     
    3.5.2 Design of u1d and u2d 62
     
    3.6 Stabilization of the Periodic Orbit 67
     
    3.7 Motion Planning Algorithm 71
     
    3.7.1 Motion Planning Algorithm for the Single Support Phase 72
     
    3.7.2 Motion Planning Algorithm for the Double Support Phase 73
     
    3.7.3 Constructing a Period-One Orbit for the Open-Loop Hybrid Model of Walking 76
     
    3.8 Numerical Example for the Motion Planning Algorithm 77
     
    3.9 Simulation Results of the Closed-Loop Hybrid System 82
     
    3.9.1 Effect of Double Support Phase on Angular Momentum Transfer and Stabilization 82
     
    3.9.2 Effect of Event-Based Update Laws on Momentum Transfer and Stabilization 92
     
    4. Asymptotic Stabilization of Periodic Orbits for Planar Monopedal Running 95
     
    4.1 Introduction 95
     
    4.2 Mechanical Model of a Monopedal Runner 97
     
    4.2.1 The Monopedal Runner 97
     
    4.2.2 Dynamics of the Flight Phase 97
     
    4.2.3 Dynamics of the Stance Phase 98
     
    4.2.4 Open-Loop Hybrid Model of Running 99
     
    4.3 Reconfiguration Algorithm for the Flight Phase 99
     
    4.3.1 Determination of the Reachable Set 103
     
    4.4 Control Laws for Stance and Flight Phases 120
     
    4.4.1 Stance Phase Control Law 121
     
    4.4.2 Flight Phase Control Law 122
     
    4.4.3 Event-Based Update Law 124
     
    4.5 Hybrid Zero Dynamics and Stabilization 125
     
    4.6 Numerical Results 127
     
    5. Online Generation of Joint Motions During Flight Phases of Planar Running 137
     
    5.1 Introduction 137
     
    5.2 Mechanical Model of a Planar Open Kinematic Chain 138
     
    5.3 Motion Planning Algorithm to Generate Continuous Joint