Quadrupedal locomotion: an introduction to the control of four-legged robots

Walking machines have advantages over traditional vehicles, and have already accomplished tasks that wheeled or tracked robots cannot handle. Nevertheless,their use in industry and services is currently limited in scope. This book brings together methods and techniques that have been developed to deal with obstacles to wider acceptance of legged robots. Part I provides an historical overview. Part II concentrates on control techniques, as applied to Four-legged robots. INDICE: Part I Walking Measurements and Algorithms.Walking Robots.Stability in Walking Robots.Generation of Periodic Gaits.Generation on Non-periodic Gaits.New Approaches to Stability.Part II Control Techniques.Kinematics and Dynamics.Improving Leg Speed by Soft Computing Techniques.Virtual Sensors for Walking Robots.Human-Machine Interaction.The SIL04 Walking Robot.Simulation Software for Walking Robots.

• ISBN: 978-1-84996-576-7
• Editorial: Springer
• Encuadernacion: Rústica
• Fecha Publicación: 31/03/2012
• Nº Volúmenes: 1
• Idioma: Inglés