Bipedal Robots

Chapter 1. Bipedal Robots and Walking.
1.1. Introduction.
1.2. Biomechanical approach.
1.3. Human walking.
1.4. Bipedal walking robots: state of the art.
1.5. Different applications.
1.6. Conclusion.
1.7. Bibliography.
Chapter 2. Kinematic and Dynamic Models for Walking.
2.1. Introduction.
2.2. The kinematics of walking.
2.3. The dynamics of walking.
2.4. Dynamic constraints.
2.5. Complementary feasibility constraints.
2.6. Conclusion.
2.7. Bibliography.
Chapter 3. Design Tools for Making Bipedal Robots.
3.1. Introduction.
3.2. Study of influence of robot body masses.
3.3. Mechanical design: the architectures carried out.
3.4. Actuators.
3.5. Sensors.
3.6. Conclusion.
3.7. Appendix.
3.8. Bibliography.
Chapter 4. Walking Pattern Generators.
4.1. Introduction.
4.2. Passive and quasi-passive dynamic walking.
4.3. Static balance walking.
4.4. Dynamic synthesis of walking.
4.5. Walking synthesis via parametric optimization.
4.6. Conclusion.
4.7. Bibliography.
Chapter 5. Control
5.1. Introduction.
5.2. Hybrid systems and stability study.
5.3. Taking into account the unilateralism of the contact constraint.
5.4. Online modification of references.
5.5. Taking an under-actuated phase into account.
5.6. Taking the double support phase into account.
5.7. Intuitive and neural network methods.
5.8. Passive movements.
5.9. Conclusion.
5.10. Bibliography.
Index.