Computational optimal control of a biped robot
Hayder Al-Shuka
Broschiertes Buch

Computational optimal control of a biped robot

Simulation experiments with MATLAB/SIMULINK

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Biped robots have been a focus of research for decades, aiming to assist or replace humans in specific tasks. Studying these robots is crucial for understanding human locomotion and enhancing control strategies for prosthetic and orthotic limbs. However, design challenges include: (1) instability due to passive joints at the single foot-ground contact; (2) variations in configuration when transitioning between walking phases-under-actuated during single support and over-actuated during double support; (3) multiple degrees of freedom (DOFs); and (4) interaction with unknown environments. This w...