TY  - BOOK
AU  - Sadati,Nasser
TI  - Hybrid control and motion planning of dynamical legged locomotion
SN  - 9781118393741
AV  - TJ211.415 .H93 2012eb
U1  - 629.8/932 23
PY  - 2012///
CY  - Hoboken, N.J.
PB  - Wiley
KW  - Mobile robots
KW  - Robots
KW  - Motion
KW  - Walking
KW  - TECHNOLOGY & ENGINEERING
KW  - Robotics
KW  - bisacsh
KW  - Automation
KW  - fast
KW  - Electronic books
N1  - Includes bibliographical references and index; Preliminaries in Hybrid Systems --; Asymptotic Stabilization of Periodic Orbits for Walking with Double Support Phase --; Asymptotic Stabilization of Periodic Orbits for Planar Monopedal Running --; Online Generation of Joint Motions During Flight Phases of Planar Running --; Stabilization of Periodic Orbits for 3D Monopedal Running --; Stabilization of Periodic Orbits for Walking with Passive Knees --; Continuous-Time Update Laws During Continuous Phases of Locomotion. --; Index
N2  - "This book provides a comprehensive presentation of issues and challenges faced by researchers and practicing engineers in motion planning and hybrid control of dynamical legged locomotion. The major features range from offline and online motion planning algorithms to generate desired feasible periodic walking and running motions and tow-level control schemes, including within-stride feedback laws, continuous time update laws and event-based update laws, to asymptotically stabilize the generated desired periodic orbits. This book describes the current state of the art and future directions across all domains of dynamical legged locomotion so that readers can extend proposed motion planning algorithms and control methodologies to other types of planar and 3D legged robots"--; "This book provides a comprehensive presentation of issues and challenges faced by researchers and practicing engineers in motion planning and hybrid control of dynamical legged locomotion"--
UR  - http://onlinelibrary.wiley.com/book/10.1002/9781118393741
ER  -