Eric R. Westervelt, Jessy W. Grizzle, Christine Chevallereau, Jun Ho Choi, Benjamin Morris, "Feedback Control of Dynamic Bipedal Robot Locomotion"
English | 2007-06-26 | ISBN: 1420053728 | 505 pages | PDF | 5,8 mb
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.