000			03893nam a22005295i 4500
001			978-1-84628-307-9
003			DE-He213
005			20161121231114.0
007			cr nn 008mamaa
008			100301s2006 xxk| s |||| 0|eng d
020			_a9781846283079 _9978-1-84628-307-9
024	7		_a10.1007/1-84628-307-8 _2doi
050		4	_aTJ210.2-211.495
050		4	_aT59.5
072		7	_aTJFM1 _2bicssc
072		7	_aTEC037000 _2bisacsh
072		7	_aTEC004000 _2bisacsh
082	0	4	_a629.892 _223
100	1		_aGonzalez de Santos, Pablo. _eauthor.
245	1	0	_aQuadrupedal Locomotion _h[electronic resource] : _bAn Introduction to the Control of Four-legged Robots / _cby Pablo Gonzalez de Santos, Elena Garcia, Joaquin Estremera.
264		1	_aLondon : _bSpringer London, _c2006.
300			_aXIV, 268 p. _bonline resource.
336			_atext _btxt _2rdacontent
337			_acomputer _bc _2rdamedia
338			_aonline resource _bcr _2rdacarrier
347			_atext file _bPDF _2rda
505	0		_aWalking Measurements and Algorithms -- Walking Robots -- Stability in Walking Robots -- Generation of Periodic Gaits -- Generation of Non-periodic Gaits -- New Approaches to Stability -- Control Techniques -- Kinematics and Dynamics -- Improving Leg Speed by Soft Computing Techniques -- Virtual Sensors for Walking Robots -- Human-machine Interfaces -- The SILO4 Walking Robot -- Simulation Software for Walking Robots.
520			_aWalking machines have advantages over traditional vehicles, and they have already succeeded in carrying out many tasks that wheeled or tracked robots cannot handle. Nevertheless, their use in industry and services is currently limited in scope. Quadrupedal Locomotion: An Introduction to the Control of Four-legged Robots brings together some of the methods and techniques in this emerging field that have recently been developed in an effort to deal with the problems that currently prevent legged robots being more widely used for real applications. Quadrupedal Locomotion: An Introduction to the Control of Four-legged Robots illustrates the appropriate algorithms and methods through a discussion of simulation and experiments that have been tested on a real machine, the SILO4 walking robot. Data from the experiments can be found on-line at http://www.iai.csic.es/users/silo4/. This book is divided into two parts: the first part, Walking Measurements and Algorithms, introduces the historical development of quadrupeds, their advantages/disadvantages and potential uses, and the trade-off between quadrupeds and hexapods. The second part, Control Techniques, concentrates on general techniques that have been specifically applied to legged robots, including kinematic and dynamic models, soft computing techniques to increase speed, virtual sensors that help reduce the electronic burden of the machine, and software simulators to study and test certain robot properties. As the first book to focus specifically on quadrupeds, Quadrupedal Locomotion: An Introduction to the Control of Four-legged Robots will be suitable for researchers, postgraduates and senior undergraduates in the field of robotics as well as engineers working in industry.
650		0	_aEngineering.
650		0	_aArtificial intelligence.
650		0	_aControl engineering.
650		0	_aRobotics.
650		0	_aMechatronics.
650		0	_aAutomation.
650	1	4	_aEngineering.
650	2	4	_aRobotics and Automation.
650	2	4	_aControl, Robotics, Mechatronics.
650	2	4	_aArtificial Intelligence (incl. Robotics).
700	1		_aGarcia, Elena. _eauthor.
700	1		_aEstremera, Joaquin. _eauthor.
710	2		_aSpringerLink (Online service)
773	0		_tSpringer eBooks
776	0	8	_iPrinted edition: _z9781846283062
856	4	0	_uhttp://dx.doi.org/10.1007/1-84628-307-8
912			_aZDB-2-ENG
950			_aEngineering (Springer-11647)
999			_c508654 _d508654