Modeling and Control for Efficient Bipedal Walking Robots

1. Front Matter

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2. Introduction

   • Vincent Duindam, Stefano Stramigioli

   Pages 1-13

3. Modeling of Rigid Mechanisms

   • Vincent Duindam, Stefano Stramigioli

   Pages 15-53

4. Modeling of Compliant and Rigid Contact

   • Vincent Duindam, Stefano Stramigioli

   Pages 55-92

5. Modeling and Analysis of Walking Robots

   • Vincent Duindam, Stefano Stramigioli

   Pages 93-127

6. Control of Walking Robots

   • Vincent Duindam, Stefano Stramigioli

   Pages 129-166

7. Conclusions

   • Vincent Duindam, Stefano Stramigioli

   Pages 167-174

8. Back Matter

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By the dawn of the new millennium, robotics has undergone a major tra- formation in scope and dimensions. This expansion has been brought about bythematurityofthe?eldandtheadvancesinitsrelatedtechnologies.From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities,providingsupportinservices,entertainment,education,heal- care, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across - verse researchareas and scienti?c disciplines, such as: biomechanics, haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are pr- ing an abundant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their signi?cance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing ?eld.

• 3D Mechanics
• Bipedal Walking
• Contact Models
• Modelbased Control
• Multibody Dynamics
• Passivity-based Control
• Physical Simulation
• Port-Hamiltonian Systems
• control
• mathematics
• modeling
• robot
• simulation
• stability

From the reviews:

“This book is written for researchers, graduate students, and professionals interested in robotics.” (IEEE Control Systems and Magazine, Vol. 30, June, 2010)

• University of California at Berkeley, USA

  Vincent Duindam

• University of Twente, Enschede, Netherlands

  Stefano Stramigioli

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