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Hybrid Control and Motion Planning of Dynamical Legged Locomotion

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Hybrid Control and Motion Planning of Dynamical Legged Locomotion Synopsis

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 This Edition

ISBN: 9781118317075
Publication date:
Author: Nasser Sadati
Publisher: Wiley-IEEE Press an imprint of Wiley
Format: Hardback
Pagination: 256 pages
Series: IEEE Press Series on Systems Science and Engineering
Genres: Electronics and communications engineering