Bipedal Robots Modeling, Design and Walking Synthesis [Hardcover]

This book presents various techniques to carry out the gait modeling, the gait patterns synthesis, and the control of biped robots. Some general information on the human walking, a presentation of the current experimental biped robots, and the application of walking bipeds are given. The modeling is based on the decomposition on a walking step into different sub-phases depending on the way each foot stands into contact on the ground. The robot design is dealt with according to the mass repartition and the choice of the actuators. Different ways to generate walking patterns are considered, such as passive walking and gait synthesis performed using optimization technique. Control based on the robot modeling, neural network methods, or intuitive approaches are presented. The unilaterality of contact is dealt with using on-line adaptation of the desired motion.

Chapter 1. Bipedal Robots and Walking

1.1. Introduction 1

1.2. Biomechanical approach 2

1.2.1. Biomechanical system: a source of inspiration 2

1.2.2. Skeletal structure and musculature 9

1.3. Human walking 11

1.3.1. Architecture 11

1.3.2. Walking and running trajectory data. 13

1.3.3. Study cases 18

1.4. Bipedal walking robots: state of the art 21

1.4.1. A brief history 21

1.4.2. Japanese studies and creations 24

1.4.3. The situation in France 27

1.4.4. General evolution tendencies 31

1.5. Different applications 32

1.5.1. Service robotics 33

1.5.2. Robotics and dangerous terrains 35

1.5.3. Toy robots and computer animation in cinema 35

1.5.4. Defense robotics 37

1.5.5. Medical prostheses 39

1.5.6. Surveill�+