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Vincent Duindam, Stefano Stramigioli, "Modeling and Control for Efficient Bipedal Walking Robots: A Port-Based Approach"

Walking robots are complex machines with many degrees of freedom. Designing efficient controllers for such robots can be a daunting task, and the differential equations by themselves usually do not help much when trying to understand the dynamics. Still, research on passive dynamic walking robots has shown that it is possible to make robotic mechanisms walk very naturally and efficiently without using any control! The gap between theoretically well-understood position-controlled walking robots and experimentally-designed uncontrolled passive-dynamic walkers is nevertheless large, and extending a passive-dynamic walker to be more robust and versatile is non-trivial.

The purpose of this work is to present a set of mathematical tools that can simplify studying robotic walking motions and designing energy-efficient controllers. The authors extend classical dynamic modeling methods and view robots and controllers as energy-exchanging physical systems, which forms the basisof the so-called port-based approach. They show how such methods can be used to analyze walking mechanisms, find efficient walking trajectories, and design controllers that increase robustness and stability with minimal energy cost. Extensive examples and illustrations are used with the objective to make the mathematics intuitive and accessible to everyone with an engineering background.

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	Science/Engineering Control of Interactive Robotic Interfaces: A Port-Hamiltonian Approach Control of Interactive Robotic Interfaces: A Port-Hamiltonian Approach (Springer Tracts in Advanced Robotics) By Cristian Secchi, Stefano Stramigioli, Cesare Fantuzzi, Publisher: Springer Number Of Pages: 225 Publication Date: 2007- ...
	Science/Engineering Autonomous Robots: Modeling, Path Planning, and Control Farbod Fahimi, "Autonomous Robots: Modeling, Path Planning, and Control" Springer \| 2008-12-04 \| ISBN: 0387095373 \| 329 pages \| PDF \| 6.6 MBBy Farbod Fahimi* Publisher: Springer* Number Of Pages: 329* Publication Date: 2008-12-04* ISB ...
	Science/Engineering Modeling, Identification and Control of Robots W. Khalil , E. Dombre, "Modeling, Identification and Control of Robots" Butterworth-Heinemann \| 2004-07-06 \| ISBN: 190399666X \| 500 pages \| PDF \| 15,2 MB '..provides necessary tools to deal with various problems that can be encountered ...
	Science/Engineering Modeling and Control of Complex Physical Systems: The Port-Hamiltonian Approach Vincent Duindam, Alessandro Macchelli, Stefano Stramigioli, Herman Bruyninckx, "Modeling and Control of Complex Physical Systems: The Port-Hamiltonian Approach" Springer \| 2009 \| ISBN: 3642031951 \| 430 pages \| PDF \| 5,3 MB Energy exchange ...
	Technical Climbing and Walking Robots : Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2005) The interest in climbing and walking robots (CLAWAR) has intensified in recent years, and novel solutions for complex and very diverse applications have been anticipated by means of significant progress in this area of robotics. The shift o ...
	Science/Engineering Bipedal Robots: Modeling, Design and Walking Synthesis Christine Chevallereau, "Bipedal Robots: Modeling, Design and Walking Synthesis" Wiley-ISTE \| 2009 \| ISBN: 1848210760 \| 328 pages \| PDF \| 4 MB This book presents various techniques to carry out the gait modeling, the gait patterns synth ...

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