ENGLISH

Multi-body Dynamic Modeling of Multi-legged Robots

By Dilip Kumar Pratihar , Abhijit Mahapatra , Shibendu Shekhar Roy

Book information

Publisher
Springer Singapore
Year
2020
ISBN
9811529523, 9789811529528
Language
english
Format
EPUB
Filesize
12 MB (12922455 bytes)
Series
Cognitive Intelligence and Robotics
Pages
236\0
Time added
2020-11-29 03:43:08

Description

This book describes the development of an integrated approach for generating the path and gait of realistic hexapod robotic systems. It discusses in detail locomation with straight-ahead, crab and turning motion capabilities in varying terrains, like sloping surfaces, staircases, and various user-defined rough terrains. It also presents computer simulations and validation using Virtual Prototyping (VP) tools and real-world experiments. The book also explores improving solutions by applying the developed nonlinear, constrained inverse dynamics model of the system formulated as a coupled dynamical problem based on the Newton–Euler (NE) approach and taking into account realistic environmental conditions. The approach is developed on the basis of rigid multi-body modelling and the concept that there is no change in the configuration of the system in the short time span of collisions.

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