Adaptive Controller for Biped Robot Mimicking Human Gait: Bio-Inspired Control Strategy for Walking Robots - Couverture souple

Vempaty, Pavan

 
9783659152795: Adaptive Controller for Biped Robot Mimicking Human Gait: Bio-Inspired Control Strategy for Walking Robots
Couverture souple
ISBN 10 : 365915279X ISBN 13 : 9783659152795
Editeur : LAP Lambert Academic Publishing, 2014

Synopsis

This book presents a practical approach to teach the biped humanoid robot to ambulate through human imitation. For this purpose, a human body motion capturing system is developed using tri-axis accelerometers (attached to human legs and torso). The tilt angle patterns information from the human is transformed and estimated to control and teach various ambulatory skills for humanoid robot bipedalism. Lyapunov stability based model reference adaptive controller (MRAC) technique is implemented to address the poorly known actuator dynamic characteristics and unpredictable variations of the biped system. Simulation and experimental results are presented to verify the control scheme of the biped robot mimicking human gait.

Les informations fournies dans la section « Synopsis » peuvent faire référence à une autre édition de ce titre.

À propos de l'auteur

Dr. Pavan Vempaty received his Ph.D in Systems Engineering at Oakland University,MI. His research is in biped robots that mimic human gait. He is an experimentalist in the fields of Automotive Mechatronics, Human-Robot Interaction, Adaptive Control Learning, and Memory-Based Learning. His primary research objective is to develop a human-like robot.

Les informations fournies dans la section « A propos du livre » peuvent faire référence à une autre édition de ce titre.

Éditeur
LAP Lambert Academic Publishing
Date d'édition
2014
Langue
anglais
ISBN 10 
365915279X
ISBN 13 
9783659152795
Reliure
Broché
Nombre de pages
92
Coordonnées du fabricant
non disponible
Personne responsable
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