Hybrid Control and Motion Planning of Dynamical Legged Locomotion

This book addresses the need in the field for a comprehensive review of motion planning algorithms and hybrid control methodologies for complex legged robots. Introducing a multidisciplinary system engineering approach for tackling many challenges posed by legged locomotion, the book provides engineering detail including hybrid models for planar and 3D legged robots, as well as hybrid control schemes for asymptotically stabilizing periodic orbits in these closed-loop systems.