Adaptive Neural Control of Walking RobotsISBN: 978-1-86058-294-3
Hardcover
332 pages
October 2007
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Introduction and background
A generic intelligent control hierarchy
Insect observations and hexapod design
Models for co-ordination of walking
Leg trajectory planning and generation
Hexapod kinematics and dynamics
The theory of stable adaptive neural control for open-chain systems
Stable neural control of systems with constraints
and closed kinematic chains
Hexapod experiments
Summary, conclusions, and outlook.