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An Overview on Balancing and Stabilization Control of Biped Robots - Softcover

Al-Shuka, Hayder

 
9783668550346: An Overview on Balancing and Stabilization Control of Biped Robots
Softcover
ISBN 10: 3668550344 ISBN 13: 9783668550346
Verlag: GRIN Verlag, 2017

Inhaltsangabe

Academic Paper from the year 2017 in the subject Engineering - Robotics, language: English, abstract: Researchers dream of developing autonomous humanoid robots which behave/walk like a human being. Biped robots, although complex, have the greatest potential for use in human-centered environments such as the home or office. Studying biped robots is also important for understanding human locomotion and improving control strategies for prosthetic and orthotic limbs. Control systems of humans walking in cluttered environments are complex, however, and may involve multiple local controllers and commands from the cerebellum. Although biped robots have been of interest over the last four decades, no unified stability/balance criterion adopted for stabilization of miscellaneous walking/running modes of biped robots has so far been available. The literature is scattered and it is difficult to construct a unified background for the balance strategies of biped motion. The zero-moment point (ZMP) criterion, however, is a conservative indicator of stabilized motion for a class of biped robots. Therefore, we offer a systematic presentation of multi-level balance controllers for stabilization and balance recovery of ZMP-based humanoid robots.

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Über die Autorin bzw. den Autor

Dr.-Ing. Hayder Al-Shuka was born in Baghdad, Iraq, in 1979. He has obtained his Ph.D. at RWTH Aachen University, Department of Mechanism Theory, Machine Dynamics and Robotics (IGMR), Aachen, Germany in 2014. From 2006-present, he assigned as a lecturer at Baghdad University at the Department of Mechanical Engineering. From May 2017-Feb. 2019, he was a postdoctoral fellow at Shandong University, Jinan, China. Dr. Al-Shuka is concerned with walking patterns and control of biped robots, adaptive approximation control of robotic manipulators, exoskeletons, and prostheses.

Von der hinteren Coverseite

Academic Paper from the year 2017 in the subject Engineering - Robotics, , language: English, abstract: Researchers dream of developing autonomous humanoid robots which behave/walk like a human being. Biped robots, although complex, have the greatest potential for use in human-centered environments such as the home or office. Studying biped robots is also important for understanding human locomotion and improving control strategies for prosthetic and orthotic limbs. Control systems of humans walking in cluttered environments are complex, however, and may involve multiple local controllers and commands from the cerebellum. Although biped robots have been of interest over the last four decades, no unified stability/balance criterion adopted for stabilization of miscellaneous walking/running modes of biped robots has so far been available. The literature is scattered and it is difficult to construct a unified background for the balance strategies of biped motion. The zero-moment point (ZMP) criterion, however, is a conservative indicator of stabilized motion for a class of biped robots. Therefore, we offer a systematic presentation of multi-level balance controllers for stabilization and balance recovery of ZMP-based humanoid robots.

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Verlag
GRIN Verlag
Erscheinungsdatum
2017
Sprache
Englisch
ISBN 10 
3668550344
ISBN 13 
9783668550346
Einband
Taschenbuch
Auflage
1
Anzahl der Seiten
28
Kontakt zum Hersteller
GRIN Publishing GmbH
info@grin.com

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München
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Deutschland