Biped Locomotion

Presents a comprehensive and systematic approach to the dynamic modelling and control of biped locomotion robots. The text includes a survey of various approaches to the control of biped robots. A new approach to the control of biped systems based on a complete dynamic model is presented in detail. The stability of complete biped system is presented for the first time as a highly nonlinear dynamic system. Also included is software for the synthesis of a dynamically stable walk for arbitrary biped systems, presented here for the first time. A survey of various realizations of biped systems and numerous numerical examples are given.