Beschreibung:
Walking machines have advantages over traditional vehicles, and have already accomplished tasks that wheeled or tracked robots cannot handle. Nevertheless, their use in industry and services is currently limited in scope. This book brings together methods and techniques that have been developed to deal with obstacles to wider acceptance of legged robots. Part I provides an historical overview. Part II concentrates on control techniques, as applied to Four-legged robots.
Walking machines have potential advantages over traditional vehicles, and they have already succeeded in carrying out many tasks that wheeled or tracked robots cannot handle. Quadrupedal Locomotion: An Introduction to Four-legged Robots brings together some of the methods and techniques in this emerging field that have recently been developed in to deal with the problems that currently prevent legged robots being more widely used for real applications. As the first book to focus specifically on quadrupeds, Quadrupedal Locomotion: An Introduction to the Control of Four-legged Robots will be bought by researchers, postgraduates and senior undergraduates in the field of robotics as well as engineers working in industry.
Part I Walking Measurements and AlgorithmsWalking RobotsStability in Walking RobotsGeneration of Periodic GaitsGeneration on Non-periodic GaitsNew Approaches to Stability Part II Control TechniquesKinematics and DynamicsImproving Leg Speed by Soft Computing TechniquesVirtual Sensors for Walking RobotsHuman-Machine InteractionThe SIL04 Walking RobotSimulation Software for Walking Robots