Multi-body Dynamic Modeling of Multi-legged Robots
Mahapatra, Abhijit, Roy, Shibendu Shekhar, Pratihar, Dilip Kumar
Produktnummer:
185bf8a98e474b441aada93f0f3bbf78c3
| Autor: | Mahapatra, Abhijit Pratihar, Dilip Kumar Roy, Shibendu Shekhar |
|---|---|
| Themengebiete: | Coupled Multi-Body Dynamics Dynamic Stability Energy Consumption Foot-Terrain Interaction Multi-Legged Robots |
| Veröffentlichungsdatum: | 28.02.2021 |
| EAN: | 9789811529559 |
| Sprache: | Englisch |
| Seitenzahl: | 203 |
| Produktart: | Kartoniert / Broschiert |
| Verlag: | Springer Singapore |
Produktinformationen "Multi-body Dynamic Modeling of Multi-legged Robots"
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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