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Multi-body Dynamic Modeling of Multi-legged Robots / by Abhijit Mahapatra, Shibendu Shekhar Roy, Dilip Kumar Pratihar.
- Format:
- Book
- Author/Creator:
- Mahapatra, Abhijit (Writer on robotics), author.
- Roy, Shibendu Shekhar, author.
- Pratihar, Dilip Kumar, author.
- Series:
- Computer Science (SpringerNature-11645)
- Cognitive Intelligence and Robotics,. 2520-1956
- Cognitive Intelligence and Robotics, 2520-1956
- Language:
- English
- Subjects (All):
- Artificial intelligence.
- Robotics.
- Automation.
- Artificial Intelligence.
- Robotics and Automation.
- Local Subjects:
- Artificial Intelligence.
- Robotics and Automation.
- Physical Description:
- 1 online resource (XXXI, 203 pages) : 81 illustrations, 72 illustrations in color.
- Edition:
- First edition 2020.
- Contained In:
- Springer Nature eBook
- Place of Publication:
- Singapore : Springer Singapore : Imprint: Springer, 2020.
- System Details:
- text file PDF
- Summary:
- 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.
- Contents:
- Introduction
- Introduction to multi-legged robots
- Multi-legged robots- a Review
- Gait Planning of multi-legged robots
- Kinematic Modeling and Analysis of Six-Legged Robots
- Locomotion planning on various terrains
- Multi-body Inverse Dynamic Modeling and Analysis of Six-Legged Robots
- Analytical Framework
- Static Equilibrium Moment Equation
- Study of performance indices- power consumption and stability measure
- Validation using Virtual Prototyping tools and Experiments
- Modeling using Virtual prototyping tools.
- Other Format:
- Printed edition:
- ISBN:
- 978-981-15-2953-5
- 9789811529535
- Access Restriction:
- Restricted for use by site license.
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