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Biped Locomotion

Dynamics, Stability, Control and Application

  • Book
  • © 1990

Overview

Authors:
  1. Miomir Vukobratović

    1. Institute »Mihailo Pupin«, Beograd, Yugoslavia

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  2. Branislav Borovac

    1. Faculty of Technical Scienes, University of Novi Sad, Yugoslavia

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  3. Dušan Surla

    1. Mathematical Institute, University of Novi Sad, Yugoslavia

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  4. Dragan Stokić

    1. Institute »Mihailo Pupin«, Beograd, Yugoslavia

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Part of the book series: Communications and Control Engineering (CCE, volume 7)

Part of the book sub series: Scientific Fundamentals of Robotics (1186)

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Table of contents (4 chapters)

  1. Front Matter

    Pages I-XIV
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  2. Dynamics of Biped Locomotion

    • Miomir Vukobratović, Branislav Borovac, Dušan Surla, Dragan Stokić
    Pages 1-52

  3. Synthesis of Nominal Dynamics

    • Miomir Vukobratović, Branislav Borovac, Dušan Surla, Dragan Stokić
    Pages 53-180

  4. Control and Stability

    • Miomir Vukobratović, Branislav Borovac, Dušan Surla, Dragan Stokić
    Pages 181-315

  5. Realization of Anthropomorphic Mechanisms

    • Miomir Vukobratović, Branislav Borovac, Dušan Surla, Dragan Stokić
    Pages 316-345

  6. Back Matter

    Pages 346-352
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Keywords

About this book

Here for the first time in one book is a comprehensive and systematic approach to the dynamic modeling and control of biped locomotion robots. A survey is included of various approaches to the control of biped robots, and a new approach to the control of biped systems based on a complete dynamic model is presented in detail. The stability of complete biped system is presented for the first time as a highly nonlinear dynamic system. Also included is new software for the synthesis of a dynamically stable walk for arbitrary biped systems, presented here for the first time. A survey of various realizations of biped systems and numerous numerical examples are given. The reader is given a deep insight into the entire area of biped locomotion. The book covers all relevant approaches to the subject and gives the most complete account to date of dynamic modeling, control and realizations of biped systems.

Authors and Affiliations

  • Institute »Mihailo Pupin«, Beograd, Yugoslavia

    Miomir Vukobratović, Dragan Stokić

  • Faculty of Technical Scienes, University of Novi Sad, Yugoslavia

    Branislav Borovac

  • Mathematical Institute, University of Novi Sad, Yugoslavia

    Dušan Surla

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