This book gives a practical, in-depth introduction to embedded systems and autonomous
robots, using the popular Raspberry Pi and Arduino microcontrollers. We demonstrate how …

Bipedal robots are difficult to analyze mathematically. However, successful control strategies
can be discovered using simple physical intuition and can be described in simple terms …

Walking is an easy task for most humans and animals. Two characteristics which make it
easy are the inherent robustness (tolerance to variation) of the walking problem and the …

This autonomous biped walking control system is based on reactive force interaction at the
foothold. The precise 3D dynamic simulation presented includes: 1) a posture controller …

Since a biped humanoid inherently suffers from instability and always risks tipping itself
over, ensuring high stability and reliability of walk is one of the most important goals. This …

Describes a biped walking control system based on the reactive force interaction control at
the foothold: 1) robust control of reactive force/torque interaction at the foothold based on …

Stable and robust walking in various environments is one of the most important abilities for a
humanoid robot. This paper addresses walking pattern synthesis and sensory feedback …

We present a statistical gradient following algo-rithm which optimizes a control policy for
bipedal walking online on a real robot. One of the distinguishing features of this system is …

We present the mechanical design of a bipedal walking robot named M2V2, as well as
control strategies to be implemented for walking and balance recovery. M2V2 has 12 …

Our goals for this chapter are modest: we'd like to understand the dynamics of a pendulum.
Why a pendulum? In part, because the dynamics of a majority of our multi-link robotics …