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Quadrupedal Locomotion: An Introduction to the Control of Four-Legged Robots

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Quadrupedal Locomotion: An Introduction to the Control of Four-Legged Robots Cover

 

Synopses & Reviews

Publisher Comments:

Walking machines have advantages over traditional vehicles, and they have already succeeded in carrying out many tasks that wheeled or tracked robots cannot handle. Nevertheless, their use in industry and services is currently limited in scope. Quadrupedal Locomotion: An Introduction to the Control of Four-legged Robots brings together some of the methods and techniques in this emerging field that have recently been developed in an effort to deal with the problems that currently prevent legged robots being more widely used for real applications. Quadrupedal Locomotion: An Introduction to the Control of Four-legged Robots illustrates the appropriate algorithms and methods through a discussion of simulation and experiments that have been tested on a real machine, the SILO4 walking robot. Data from the experiments can be found on-line at http://www.iai.csic.es/users/silo4/. This book is divided into two parts: the first part, Walking Measurements and Algorithms, introduces the historical development of quadrupeds, their advantages/disadvantages and potential uses, and the trade-off between quadrupeds and hexapods. The second part, Control Techniques, concentrates on general techniques that have been specifically applied to legged robots, including kinematic and dynamic models, soft computing techniques to increase speed, virtual sensors that help reduce the electronic burden of the machine, and software simulators to study and test certain robot properties. As the first book to focus specifically on quadrupeds, Quadrupedal Locomotion: An Introduction to the Control of Four-legged Robots will be suitable for researchers, postgraduates and senior undergraduates in the field of robotics as well as engineers working in industry.

Synopsis:

Walking machines have advantages over traditional vehicles, and have already accomplished tasks that wheeled or tracked robots cannot handle. Nevertheless, their use in industry and services is currently limited in scope. This book brings together methods and techniques that have been developed to deal with obstacles to wider acceptance of legged robots. Part I provides an historical overview. Part II concentrates on control techniques, as applied to Four-legged robots.

Synopsis:

Walking machines have advantages over traditional vehicles and have succeeded in carrying out many tasks that wheeled or tracked robots cannot do. However, their use in industry and services is limited in scope. This book presents some of the methods and techniques developed to deal with the problems that prevent legged robots being more widely used.
Algorithms and methods are illustrated in a discussion of simulation and experiments tested on the SILO4 walking robot. Data from the experiments is available at http://www.iai.csic.es/users/silo4/. The historical development of quadrupeds, their advantages/disadvantages and potential uses, and the trade-off between quadrupeds and hexapods are discussed. Then the focus turns to the techniques applied to legged robots, including kinematic and dynamic models, soft computing techniques, virtual sensors, and software simulators.
This book will be suitable for researchers, postgraduates and senior undergraduates in robotics, and, engineers working in industry.

About the Author

The authors work at the Department of Automatic Control of the Industrial Automation Institute (IAI), which belongs to the Spanish Council for Scientific Research (CSIC). Over the past ten years, they have been involved in the research of walking robots techniques and have participated in the design and manufacturing of up to six different legged robots (climbing and walking) for diverse applications including ship building, terrain consolidation in civil-engineering works, educational robots and humanitarian demining. One of those robots (SILO4) is the basic model for simulation (geometric model) and experiments (real model) and there exist three replicas of this design which are owned by IAI-CSIC (Spain), University of Bourges (France) and University of Murcia (Spain). This robot is used for education and basic research purposes at these universities. The design drawings and some manufacturing hints are provided on the internet for those researchers willing to manufacture their own replicas. The basic material of this book is the result of four Ph.D. theses and three M.Sc. theses developed and/or advised by this book's authors, who have also some international experience: Dr. Gonzalez de Santos worked at the Robotics Institute (Carnegie-Mellon University) as a visiting scientist where he was involved in the development of the AMBLER walking robot; Dr. Garcia worked at the Leg Laboratory of the Massachusetts Institute of Technology as a visiting scholar where she was involved in the study of dynamic aspects of legged robots and Dr. Estremera is currently working at the University of Stanford (CA) with Professor Waldron, one of the most prominent researchers in legged locomotion.

Table of Contents

Part I Walking Measurements and Algorithms Walking Robots Stability in Walking Robots Generation of Periodic Gaits Generation on Non-periodic Gaits New Approaches to Stability Part II Control Techniques Kinematics and Dynamics Improving Leg Speed by Soft Computing Techniques Virtual Sensors for Walking Robots Human-Machine Interaction The SIL04 Walking Robot Simulation Software for Walking Robots

Product Details

ISBN:
9781846283062
Author:
Gonzalez-de-santos, Pablo
Publisher:
Springer
Author:
Gonzalez-De-Santos, Pablo
Author:
Pablo González de Santos
Author:
Garcia, Elena
Author:
Gonzalez de Santos, Pablo
Author:
Estremera, Joaquin
Subject:
Engineering - Electrical & Electronic
Subject:
Robotics
Subject:
Robots
Subject:
Motion
Subject:
Artificial Intelligence - General
Subject:
Electricity
Subject:
Intelligence (AI) & Semantics
Subject:
Artificial Intelligence-Robotics
Subject:
Automation
Subject:
Control techniques for walking robots
Subject:
Gait generation
Subject:
Legged Robots
Subject:
Mobile robots
Subject:
Stability measurements
Subject:
Walking Robots
Subject:
Control, Robotics, Mechatronics
Subject:
Artificial Intelligence (incl. Robotics)
Subject:
Artificial I
Subject:
ntelligence (incl. Robotics)
Copyright:
Edition Description:
2006
Publication Date:
20060602
Binding:
HARDCOVER
Language:
English
Illustrations:
Y
Pages:
282
Dimensions:
235 x 155 mm 1270 gr

Related Subjects

Computers and Internet » Artificial Intelligence » General
Computers and Internet » Artificial Intelligence » Robotics
Computers and Internet » Computers Reference » General
Science and Mathematics » Electricity » General Electricity

Quadrupedal Locomotion: An Introduction to the Control of Four-Legged Robots New Hardcover
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$219.75 In Stock
Product details 282 pages Springer - English 9781846283062 Reviews:
"Synopsis" by , Walking machines have advantages over traditional vehicles, and have already accomplished tasks that wheeled or tracked robots cannot handle. Nevertheless, their use in industry and services is currently limited in scope. This book brings together methods and techniques that have been developed to deal with obstacles to wider acceptance of legged robots. Part I provides an historical overview. Part II concentrates on control techniques, as applied to Four-legged robots.
"Synopsis" by , Walking machines have advantages over traditional vehicles and have succeeded in carrying out many tasks that wheeled or tracked robots cannot do. However, their use in industry and services is limited in scope. This book presents some of the methods and techniques developed to deal with the problems that prevent legged robots being more widely used.
Algorithms and methods are illustrated in a discussion of simulation and experiments tested on the SILO4 walking robot. Data from the experiments is available at http://www.iai.csic.es/users/silo4/. The historical development of quadrupeds, their advantages/disadvantages and potential uses, and the trade-off between quadrupeds and hexapods are discussed. Then the focus turns to the techniques applied to legged robots, including kinematic and dynamic models, soft computing techniques, virtual sensors, and software simulators.
This book will be suitable for researchers, postgraduates and senior undergraduates in robotics, and, engineers working in industry.
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