Committee login






Small thumbnail

Baidu SEO

Challenges and Intricacies of Marketing in China

Small thumbnail

Asymmetric Alliances and Information Systems

Issues and Prospects

Small thumbnail

Technicity vs Scientificity

Complementarities and Rivalries

Small thumbnail

Freshwater Fishes

250 Million Years of Evolutionary History

Small thumbnail

Biostatistics and Computer-based Analysis of Health Data using SAS

Biostatistics and Health Science Set

Small thumbnail

Predictive Control

Small thumbnail

Fundamentals of Advanced Mathematics 1

Categories, Algebraic Structures, Linear and Homological Algebra

Small thumbnail

Swelling Concrete in Dams and Hydraulic Structures

DSC 2017

Small thumbnail

The Chemostat

Mathematical Theory of Microorganims Cultures

Small thumbnail

Earthquake Occurrence

Short- and Long-term Models and their Validation

Small thumbnail

Bipedal Robots

Modeling, Design and Walking Synthesis

Edited by 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

ISBN: 9781848210769

Publication Date: November 2008   Hardback   336 pp.

180.00 USD

Add to cart


Ebook Ebook


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.
5. Control.

About the Authors

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.


DownloadTable of Contents - PDF File - 94 Kb

Related Titles

0.03346 s.