Biped Locomotion

Dynamics, Stability, Control and Application

  • Miomir Vukobratović
  • Branislav Borovac
  • Dušan Surla
  • Dragan Stokić

Part of the Communications and Control Engineering Series book series (CCE, volume 7)

Table of contents

  1. Front Matter
    Pages I-XIV
  2. Miomir Vukobratović, Branislav Borovac, Dušan Surla, Dragan Stokić
    Pages 1-52
  3. Miomir Vukobratović, Branislav Borovac, Dušan Surla, Dragan Stokić
    Pages 53-180
  4. Miomir Vukobratović, Branislav Borovac, Dušan Surla, Dragan Stokić
    Pages 181-315
  5. Miomir Vukobratović, Branislav Borovac, Dušan Surla, Dragan Stokić
    Pages 316-345
  6. Back Matter
    Pages 346-352

About this book

Introduction

Here for the first time in one book is a comprehensive and systematic approach to the dynamic modeling and control of biped locomotion robots. A survey is included of various approaches to the control of biped robots, and a new approach to the control of biped systems based on a complete dynamic model is presented in detail. The stability of complete biped system is presented for the first time as a highly nonlinear dynamic system. Also included is new software for the synthesis of a dynamically stable walk for arbitrary biped systems, presented here for the first time. A survey of various realizations of biped systems and numerous numerical examples are given. The reader is given a deep insight into the entire area of biped locomotion. The book covers all relevant approaches to the subject and gives the most complete account to date of dynamic modeling, control and realizations of biped systems.

Keywords

Anthropomorphe Mechanismen Dynamic Modeling Dynamische Regelung Regelung Zweibeinige Roboter anthropomorph automatic control control mechanics mechanism model modeling robot software stability

Authors and affiliations

  • Miomir Vukobratović
    • 1
  • Branislav Borovac
    • 2
  • Dušan Surla
    • 3
  • Dragan Stokić
    • 1
  1. 1.Institute »Mihailo Pupin«BeogradYugoslavia
  2. 2.Faculty of Technical ScienesUniversity of Novi SadYugoslavia
  3. 3.Mathematical InstituteUniversity of Novi SadYugoslavia

Bibliographic information

  • DOI https://doi.org/10.1007/978-3-642-83006-8
  • Copyright Information Springer-Verlag Berlin Heidelberg 1990
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Springer Book Archive
  • Print ISBN 978-3-642-83008-2
  • Online ISBN 978-3-642-83006-8
  • Series Print ISSN 0178-5354
  • About this book