Christine Chevallereau, Institute of Research in Communication and Cybernetics, Nantes, France,
Guy Bessonnet, University of Poitiers, France
Gabriel Abba, National Engineer School of Metz, France
Yannick Aoustin, University of Nantes, France
This book presents various techniques for carrying out gait modeling, walking pattern synthesis and the control of bipedal robots. General information on human walking is given, along with a presentation of current experimental bipedal robots and the application of walking bipeds. Different ways of generating walking patterns are considered, such as passive walking and gait synthesis performed using optimization techniques. Control based on robot modeling, neural network methods or intuitive approaches are also covered. The unilaterality of contact is dealt with using online adaptation of the desired motion. The Poincaré return map tool is considered to study walking stability.
1. Bipedal Robots and Walking.
2. Kinematic and Dynamic Models for Walking.
3. Design Tools for Making Bipedal Robots.
4. Walking Pattern Generators.
Christine Chevallereau is Director of Research at the National Center for Scientific Research (CNRS) and is a researcher at the Institute of Research in Communication and Cybernetics, Nantes, France.
Guy Bessonnet is a Professor at the University of Poitiers and is a researcher at the Laboratory of Solid Mechanics at Poitiers, France.
Gabriel Abba is Professor of Automatic Control and Robotics at the National Engineer School of Metz and is a researcher at the Laboratory of Industrial Engineering and Mechanical Production, Metz, France.
Yannick Aoustin is an Associate Professor at the University of Nantes and is a researcher at the Institute of Research in Communication and Cybernetics, Nantes, France.
Table of Contents
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