双足机器人反馈控制

The objective of this book is to present systematic methods for achieving stable, agile and efficient locomotion in bipedal robots. The fundamental principles presented here can be used to improve the control of existing robots and provide guidelines for improving the mechanical design of future robots. The book also contributes to the emerging control theory of hybrid systems. Models of legged machines are fundamentally hybrid in nature, with phases modeled by ordinary differential equations interleaved with discrete transitions and reset maps. Stable walking and running correspond to the design of asymptotically stable periodic orbits in these hybrid systems and not equilibrium points. Past work has emphasized quasi-static stability criteria that are limited to flat-footed walking. This book represents a concerted effort to understand truly dynamic locomotion in planar bipedal robots, from both theoretical and practical points of view.