Hybrid Control and Motion Planning of Dynamical Legged Locomotion [Hardcover]

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.

1. Introduction 1

1.1 Objectives of Legged Locomotion and Challenges in Controlling Dynamic Walking and Running 1

1.2 Literature Overview 4

1.2.1 Tracking of Time Trajectories 4

1.2.2 Poincar?e Return Map and Hybrid Zero Dynamics 5

1.3 The Objective of the Book 7

1.3.1 Hybrid Zero Dynamics in Walking with Double Support Phase 7

1.3.2 Hybrid Zero Dynamics in Running with an Online Motion Planning Algorithm 8

1.3.3 Online Motion Planning Algorithms for Flight Phases of Running 9

1.3.4 Hybrid Zero Dynamics in 3D Running 10

1.3.5 Hybrid Zero Dynamics in Walking with Passive Knees 11

1.3.6 Hybrid Zero Dynamics with Continuous-Time Update Laws 12

2. Preliminaries in Hybrid Systems 13

2.1 Basic Definitions 13

2.2 Poincar?e Return Map for Hybrid Systems 16

2.3 Low-Dimensional Stability Analysis 23

2.4 Stabilization Problem 28

3. Asymptotic Stabilization of Periodic Orbits forWalking with Double Supplc1