Modeling and control for efficient bipedal walking robots. A port-based approach (Q2377595)

The book is devoted to the problem of the energy-efficient control of walking robots. It consists of six chapters and an appendix, presenting mathematical concepts being used (Appendix A), and structure and properties of port-Hamiltonian systems as well as representing these systems bound graphs (Appendix B). The first chapter presents survey of existing walking robots and ideas of port-Hamiltonian modeling and control, whereas a detailed description of rigid contacts modeling possibilities is presented in the second chapter. The third chapter presents models used for compliant and rigid contact description whereas the fourth chapter, using results of the previous two chapters presents mathematical models of the dynamics of walking robots, developed for energy loss minimizing in different conditions. Mathematical models used for walking robots control are presented in the fifth chapter, including, also, results of experiments. Resultant conclusions are reflected by the sixth chapter. All the main aspects of the book are illustrated by figures and graphs, the list of references includes 130 works, optimization tools used are based on the mathematical methods developed for models with continuous variables.