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Hybrid Control and Motion Planning of Dynamical Legged Locomotion (Cód: 9296371)

Kaveh Akabri Hamed; Guy A. Dumont; William A. Gruver; Nasser Sadati

Wiley (Digital)

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Hybrid Control and Motion Planning of Dynamical Legged Locomotion

R$145,00

Descrição

A much-needed, state-of-the-art guide on building complex legged robots Robot control of dynamical legged locomotion has seen tremendous advances in recent decades, with hundreds of walking mechanisms being built in laboratories worldwide, helping people with disabilities and serving as replacements for humans operating in hazardous environments. 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 the engineering detail readers' need to achieve dynamical legged locomotion, 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. Researchers and practicing engineers familiar with robotics and control systems will gain a thorough understanding of: Hybrid systems and systems with impulse effects Offline and online motion planning algorithms to generate periodic walking and running motions Two-level control schemes, including within-stride feedback laws to reduce the dimension of the hybrid systems Continuous-time update laws to minimize a general cost function online Event-based update laws to asymptotically stabilize periodic orbits Complete with downloadable MATLAB code of the control algorithms and schemes used in the book, Hybrid Control and Motion Planning of Dynamical Legged Locomotion is an invaluable guide to the latest developments and future trends in dynamical legged locomotion.

Características

Produto sob encomenda Sim
Marca Wiley (Digital)
Cód. Barras 9781118393727
Início da Venda 08/03/2016
Coleção / Série IEEE Press Series on Systems Science and Engineering
Territorialidade Internacional
Formato Livro Digital Epub
Gratuito Não
Proteção Drm Sim
Número da edição 1
Idioma 337
Código do Formato Epub
Número de Páginas 272 (aproximado)
Ano da Publicação 112
VOLUME 2
Peso 0.00 Kg
AutorKaveh Akabri Hamed; Guy A. Dumont; William A. Gruver; Nasser Sadati

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