Skip to main content
SpringerLink
Log in

Modeling and Control for Efficient Bipedal Walking Robots

A Port-Based Approach

  • Book
  • © 2009

Overview

Authors:
  1. Vincent Duindam

    1. University of California at Berkeley, USA

    View author publications

    You can also search for this author in PubMed   Google Scholar

  2. Stefano Stramigioli

    1. University of Twente, Enschede, Netherlands

    View author publications

    You can also search for this author in PubMed   Google Scholar

  • Presents a complete framework for modeling, analysis, and control of walking robots and complex mechanical systems in general
  • Provides tools and methods to analyze and improve the design of passive or almost- passive walking robots
  • Gives an introduction to the use of port-Hamiltonian concepts in mechanics and robotics
  • Extends classical dynamics equations for multibody systems to handle more general joints
  • Includes supplementary material: sn.pub/extras

Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 53)

This is a preview of subscription content, log in via an institution to check access.

Access this book

Log in via an institution
eBook USD 129.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book USD 169.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book USD 169.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Other ways to access

Licence this eBook for your library

Institutional subscriptions

Table of contents (6 chapters)

  1. Front Matter

    Download chapter PDF

  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

    Download chapter PDF
Back to top

Keywords

About this book

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.

Reviews

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)

Authors and Affiliations

  • University of California at Berkeley, USA

    Vincent Duindam

  • University of Twente, Enschede, Netherlands

    Stefano Stramigioli

Bibliographic Information

  • Book Title: Modeling and Control for Efficient Bipedal Walking Robots

  • Book Subtitle: A Port-Based Approach

  • Authors: Vincent Duindam, Stefano Stramigioli

  • Series Title: Springer Tracts in Advanced Robotics

  • DOI: https://doi.org/10.1007/978-3-540-89918-1

  • Publisher: Springer Berlin, Heidelberg

  • eBook Packages: Engineering, Engineering (R0)

  • Copyright Information: Springer-Verlag Berlin Heidelberg 2009

  • Hardcover ISBN: 978-3-540-89917-4Published: 17 January 2009

  • Softcover ISBN: 978-3-642-10061-1Published: 22 October 2010

  • eBook ISBN: 978-3-540-89918-1Published: 19 December 2008

  • Series ISSN: 1610-7438

  • Series E-ISSN: 1610-742X

  • Edition Number: 1

  • Number of Pages: XIV, 214

  • Number of Illustrations: 81 b/w illustrations

  • Topics: Control, Robotics, Mechatronics, Artificial Intelligence

Publish with us

Policies and ethics

Back to top

Search

Navigation