Hybrid Control and Motion Planning of Dynamical Legged Locomotion
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Hybrid Control and Motion Planning of Dynamical Legged Locomotion

Hybrid Control and Motion Planning of Dynamical Legged Locomotion


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About the Book

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.


About the Author:

NASSER SADATI is Professor in the Department of Electrical Engineering, Sharif University of Technology, Tehran, Iran.

GUY A. DUMONT is Professor in the Department of Electrical and Computer Engineering, The University of British Columbia, Vancouver, BC, Canada.

KAVEH AKBARI HAMED is Postdoctoral Research Fellow at the Electrical Engineering and Computer Science Department, University of Michigan, Ann Arbor, MI, USA.

WILLIAM A. GRUVER is Professor Emeritus in the School of Engineering Science, Simon Fraser University, Burnaby, BC, Canada.


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Product Details
  • ISBN-13: 9781118317075
  • Publisher: Wiley-IEEE Press
  • Publisher Imprint: Wiley-IEEE Press
  • Depth: 19
  • Language: English
  • Returnable: Y
  • Spine Width: 25 mm
  • Width: 163 mm
  • ISBN-10: 1118317076
  • Publisher Date: 02 Oct 2012
  • Binding: Hardback
  • Height: 236 mm
  • No of Pages: 272
  • Series Title: IEEE Press Systems Science and Engineering
  • Weight: 662 gr


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