عنوان

Real-time control of walking

0817633324

3764333324

9780817633325

9783764333324

b550470

Real-time control of walking

[Book]

Marc D. Donner.

Boston

Birkhäuser

1987

[1 volume].

Progress in computer science, no. 7

1.0 Introduction.- One - Machine and animal walking.- 2.0 Animal walking.- 2.1 Locality of control.- 2.1.1 The insect nervous system.- 2.1.2 Insect experiments.- 2.1.3 The spinal cat.- 2.1.4 Reflexes versus patterns.- 2.2 Rear-to-front waves.- 2.3 Why insect gaits are not discrete.- 2.4 Summary.- 3.0 Other walking work.- 3.1 Static stability.- 3.2 Dynamic stability.- 3.3 Summary.- 4.0 SSA walking machine.- 4.1 Mechanical overview.- 4.2 Valve settings.- 4.2.1 Hip control.- 4.2.2 Knee control.- 4.2.3 Valve switching time.- 4.3 Control computers.- 4.4 Hydraulic system.- 4.4.1 Pumps.- 4.4.2 Cylinders.- 4.4.3 Valves.- 4.5 Summary.- 5.0 Walking program.- 5.1 Responsibilities of a walking program.- 5.2 Inhibition and excitation.- 5.3 Walking program structure.- 5.4 Row.- 5.4.1 Load.- 5.4.2 Recover.- 5.5 Service processes.- 5.5.1 Sensors.- 5.5.2 Trouble.- 5.5.3 Compensator monitor.- 5.5.4 Gather.- Two - Programming for robotics and control.- 6.0 Inadequacies of existing control structures.- 6.1 Concurrency.- 6.1.1 Time slicing.- 6.1.2 Algorithmic languages.- 6.1.3 Production systems.- 6.1.4 Concurrent programming languages.- 6.2 Nondeterminacy.- 6.2.1 Concurrent programming languages revisited.- 6.2.2 Guarded commands.- 6.3 The control of temporal behavior.- 6.3.1 Wait for event.- 6.3.2 Complete task before event.- 6.3.3 The nature of loops.- 6.4 Real-time performance.- 6.4.1 Pluribus strips.- 6.4.2 TOMAL.- 6.5 Summary.- 7.0 OWL language.- 7.1 OWL processes.- 7.2 Sequences.- 7.2.1 Asserting done and alert.- 7.2.2 When and bothwhen.- 7.3 Concurrences.- 7.3.1 Handling of alert.- 7.3.2 Concurrent while.- 7.3.3 Synchronization and mutual exclusion.- 7.4 Named processes.- 7.4.1 Scope and parameter passing.- 7.5 Data.- 7.5.1 Datatypes.- 7.5.2 Declarations.- 7.6 Discussion.- 7.6.1 Sequences and loops.- 7.6.2 Concurrence and alternation.- 7.6.3 Distributed implementation.- 7.7 OWL compiler and runtime system.- 7.7.1 Compiler.- 7.7.2 Runtime system.- 7.8 Performance.- 7.9 OWL syntax.- 7.9.1 Walking machine primitives in OWL.- Three - Results and conclusions.- 8.0 Experimental results.- 8.1 Local control.- 8.1.1 Walking.- 8.1.2 Five legged walking.- 8.2 Inhibition.- 8.3 Excitation.- 8.4 Comparison with another program.- 8.5 Summary.- 9.0 Discussion and conclusions.- 9.1 Distributed control.- 9.2 Scaling constraints on walking strategies.- 9.2.1 Why small things cannot balance.- 9.2.2 Why small animals do not have to balance.- 9.2.3 Prognosis for walking machines.- 9.3 Natural motions.- 9.4 Conclusions.- 9.5 Programming: real-time and robotic systems.- 9.6 Directions for future research.- A.O Walking program code.- A.1 Overview.- A.2 Walk.owl.- A.3 Load5.owl.- A.4 Drive7.owl.- A.5 Unload3.owl.- A.6 Recover6.owl.- A.7 Waveinit.owl.- A.8 Sensors.owl.- A.9 Data.owl.- A.10 Trouble.owl.- A.11 Comps.owl.- B.0 Data.- B.1 Description of data figures.- B.2 Data plots.- C.0 OWL primitives.- C.1 OWL control primitives.- C.2 Compiler directives and declaration keywords.- C.3 Sensor primitives.- C.4 Valve command primitives.- C.5 I/O primitives.- C.6 Miscellaneous primitives.- D.0 The Trojan Cockroach.

Marc D. Donner.

Marc D Donner

[Book]

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