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CAIRO BOOKS's Description
This book presents various techniques to carry out the gait modeling, the gait
patterns synthesis, and the control of biped robots. Some general information
on the human walking, a presentation of the current experimental biped robots,
and the application of walking bipeds are given. The modeling is based on the
decomposition on a walking step into different sub-phases depending on the way
each foot stands into contact on the ground. The robot design is dealt with
according to the mass repartition and the choice of the actuators. Different
ways to generate walking patterns are considered, such as?passive walking and
gait synthesis performed using optimization technique. Control based on the
robot modeling, neural network methods, or intuitive approaches are presented.
The unilaterality of contact is dealt with using on-line adaptation of the