Hybrid Control and Motion Planning of Dynamical Legged Locomotion

This book addresses the need in the field for a comprehensive review of motion planning algorithms and hybrid control methodologies for complex legged robots. Introducing a multidisciplinary systems engineering approach for tackling many challenges posed by legged locomotion, the book provides engineering detail including hybrid models for planar and 3D legged robots, as well as hybrid control schemes for asymptotically stabilizing periodic orbits in these closed-loop systems. Complete with downloadable MATLAB code of the control algorithms and schemes used in the book, this book is an invaluable guide to the latest developments and future trends in dynamical legged locomotion.

From the brand

IEEE, the world’s largest technical professional organization, partners with Wiley to bring to you high-quality books and reference works in electrical engineering and computer science.

Written by leading experts, the books are authoritative and cutting-edge and cover in-demand topics in these important areas of research.

Learn More

Learn More

Publisher ‏ : ‎ Wiley-IEEE Press
Publication date ‏ : ‎ October 2, 2012
Edition ‏ : ‎ 1st
Language ‏ : ‎ English
Print length ‏ : ‎ 272 pages
ISBN-10 ‏ : ‎ 1118317076
ISBN-13 ‏ : ‎ 978-1118317075
Item Weight ‏ : ‎ 1.35 pounds
Dimensions ‏ : ‎ 6.4 x 0.85 x 9.5 inches
Part of series ‏ : ‎ IEEE Press Series on Systems Science and Engineering
Best Sellers Rank: #8,558,811 in Books (See Top 100 in Books) #2,043 in Robotics (Books) #3,209 in Robotics & Automation (Books) #7,247 in Bioengineering