Benjamin Morris

52 is a whale without a herd, without a family. Will he manage to find one? Inspired by the story of the whale who only broadcasts at 52Hz, The Lonely Whale is a heartwarming tale of how sometimes family is the one we make ourselves. This book was designed to make reading as easy as possible for children with reading difficulties and follows the Dyslexia Style Guide produced by the British Dyslexia Association as far as possible. The font used is Open Dyslexic, a free font designed to increase readability. It is printed on Matte paper rather than gloss in order to make reading easier.

The Lonely Whale

Christine Chevallereau

Eric R. Westervelt

Jessy W. Grizzle

Jun Ho Choi

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 robots Analysis of periodic orbits in hybrid systems Design and analysis of feedback systems for achieving stable periodic motions Algorithms for synthesizing feedback controllers Detailed simulation examples Experimental implementations on two bipedal test beds The 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.

Benjamin Morris

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