Modeling and Control for Efficient Bipedal Walking Robots

• Main Authors: Duindam, Vincent, Stramigioli, Stefano
• 格式: 圖書
• 語言: English
• 出版: Springer 2017
• 主題: Engineering
• 在線閱讀: http://repository.vnu.edu.vn/handle/VNU_123/31267
• 機構: Vietnam National University, Hanoi

Walking robots are complex machines with many degrees of freedom. Designing efficient controllers for such robots can be a daunting task, and the differential equations by themselves usually do not help much when trying to understand the dynamics. Still, research on passive dynamic walking robots has shown that it is possible to make robotic mechanisms walk very naturally and efficiently without using any control! The gap between theoretically well-understood position-controlled walking robots and experimentally-designed uncontrolled passive-dynamic walkers is nevertheless large, and extending a passive-dynamic walker to be more robust and versatile is non-trivial (...)