Bipedal locomotion is among the most difficult challenges in control engineering. Most books treat the subject from a quasi-static perspective, overlooking the hybrid nature of bipedal mechanics. Feedback Control of Dynamic Bipedal Robot Locomotion is the first book to present a comprehensive and mathematically sound treatment of feedback design for achieving stable, agile, and efficient locomotion in bipedal robots.In this unique and groundbreaking treatise, expert authors lead you systematically through every step of the process, including:Mathematical modeling of walking and running gaits in planar robotsAnalysis of periodic orbits in hybrid systemsDesign and analysis of feedback systems for achieving stable periodic motionsAlgorithms for synthesizing feedback controllersDetailed simulation examplesExperimental implementations on two bipedal test bedsThe elegance of the authors' approach is evident in the marriage of control theory and mechanics, uniting control-based presentation and mathematical custom with a mechanics-based approach to the problem and computational rendering. Concrete examples and numerous illustrations complement and clarify the mathematical discussion. A supporting Web site offers links to videos of several experiments along with MATLAB(R) code for several of the models. This one-of-a-kind book builds a solid understanding of the theoretical and practical aspects of truly dynamic locomotion in planar bipedal robots.

PRELIMINARIESIntroductionTwo Test Beds for TheoryMODELING, ANALYSIS, AND CONTROL OF ROBOTS WITH PASSIVE POINT FEETModeling of Planar Bipedal Robots with Point FeetPeriodic Orbits and Poincaré Return MapsZero Dynamics of Bipedal LocomotionSystematic Design of Within-Stride Feedback Controllers for WalkingSystematic Design of Event-Based Feedback Controllers for WalkingExperimental Results for WalkingRunning with Point FeetWALKING WITH FEETWalking with Feet and Actuated AnklesDirectly Controlling the Foot Rotation Indicator PointAPPENDICESAppendix A: Getting StartedAppendix B: Essential Technical BackgroundAppendix C: Proofs and Technical DetailsAppendix D: Derivation of the Equations of Motion for Three-Dimensional MechanismsAppendix E: Single Support Equations of Motion of RABBITNOMENCLATUREEND NOTESREFERENCESINDEXSUPPLEMENTAL INDICES