Biped robots form a subclass of legged or walking robots. The study of mechanical legged motion has been motivated by its potential use as a means of locomotion in rough terrain, as well as its potential benefits to prothesis development and testing. The paper concentrates on issues related to the automatic control of biped robots. More precisely, its primary goal is to contribute a means to prove asymptotically-stable walking in planar, underactuated biped robot models. Since normal walking can be viewed as a periodic solution of the robot model, the method of Poincare sections is the natural means to study asymptotic stability of a walking cycle. However, due to the complexity of the associated dynamic models, this approach has had limited success. The principal contribution of the present work is to show that the control strategy can be designed in a way that greatly simplifies the application of the method of Poincare to a class of biped models, and, in fact, to reduce the stability assessment problem to the calculation of a continuous map from a subinterval of R to itself. The mapping in question is directly computable from a simulation model. The stability analysis is based on a careful formulation of the robot model as a system with impulse effects and the extension of the method of Poincare sections to this class of models.

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Asymptotically stable walking for biped robots: analysis via systems with impulse effects

Bipedal locomotion is among the most difficult challenges in control engineering. Most books treat the subject from a quasi-static perspective, overlooking the hybrid nature of bipedal mechanics. Feedback Control of Dynamic Bipedal Robot Locomotion is the first book to present a comprehensive and mathematically sound treatment of feedback design for achieving stable, agile, and efficient locomotion in bipedal robots.In this unique and groundbreaking treatise, expert authors lead you systematically through every step of the process, including:Mathematical modeling of walking and running gaits in planar robotsAnalysis of periodic orbits in hybrid systemsDesign and analysis of feedback systems for achieving stable periodic motionsAlgorithms for synthesizing feedback controllersDetailed simulation examplesExperimental implementations on two bipedal test bedsThe elegance of the authors' approach is evident in the marriage of control theory and mechanics, uniting control-based presentation and mathematical custom with a mechanics-based approach to the problem and computational rendering. Concrete examples and numerous illustrations complement and clarify the mathematical discussion. A supporting Web site offers links to videos of several experiments along with MATLAB® code for several of the models. This one-of-a-kind book builds a solid understanding of the theoretical and practical aspects of truly dynamic locomotion in planar bipedal robots.

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Feedback Control of Dynamic Bipedal Robot Locomotion

Titanium and nickel alloys represent a significant metal portion of the aircraft structural and engine components. When these critical structural components in aerospace industry are manufactured with the objective to reach high reliability levels, surface integrity is one of the most relevant parameters used for evaluating the quality of finish machined surfaces. The residual stresses and surface alteration (white etch layer and depth of work hardening) induced by machining of titanium alloys and nickel-based alloys are very critical due to safety and sustainability concerns. This review paper provides an overview of machining induced surface integrity in titanium and nickel alloys. There are many different types of surface integrity problems reported in literature, and among these, residual stresses, white layer and work hardening layers, as well as microstructural alterations can be studied in order to improve surface qualities of end products. Many parameters affect the surface quality of workpieces, and cutting speed, feed rate, depth of cut, tool geometry and preparation, tool wear, and workpiece properties are among the most important ones worth to investigate. Experimental and empirical studies as well as analytical and Finite Element modeling based approaches are offered in order to better understand machining induced surface integrity. In the current state-of-the-art however, a comprehensive and systematic modeling approach based on the process physics and applicable to the industrial processes is still missing. It is concluded that further modeling studies are needed to create predictive physics-based models that is in good agreement with reliable experiments, while explaining the effects of many parameters, for machining of titanium alloys and nickel-based alloys.

Machining induced surface integrity in titanium and nickel alloys: A review

Preface Introduction 1. Fluid field equations and modal analysis in rigid containers 2. Linear forced sloshing 3. Viscous damping and sloshing suppression devices 4. Weakly nonlinear lateral sloshing 5. Equivalent mechanical models 6. Parametric sloshing (Faraday's waves) 7. Dynamics of liquid sloshing impact 8. Linear interaction of liquid sloshing with elastic containers 9. Nonlinear interaction under external and parametric excitations 10. Interactions with support structures and tuned sloshing absorbers 11. Dynamics of rotating fluids 12. Microgravity sloshing dynamics Bibliography Index.

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Liquid Sloshing Dynamics

Recent advances in nonlinear passive vibration isolators

Vibro-impact systems Equivalent linearisation of vibro-impact systems Vibro-impact processes in systems with single degree of freedom Vibro-impact processes with multiple degrees of freedom Structural synthesis of self-sustaining vibro-impact systems.

Vladimir I. Babitsky

Papers

Theory of Vibro-Impact Systems and Applications

Ultrasonically assisted turning of aviation materials

Ultrasonically assisted turning of aviation materials: simulations and experimental study.

Ultrasonic cutting as a nonlinear (vibro-impact) process

Finite element analysis of ultrasonically assisted turning of Inconel 718