Multi-body Dynamic Modeling of Multi-legged Robots
Synopsis
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.
- Hakimiliki:
- 2020 Springer
Book Details
- Book Quality:
- ISBN-13:
- 9789811529535
- Publisher:
- Springer Singapore, Singapore
- Date of Addition:
- 2020-06-01T15:05:58Z
- Lugha:
- English
- Kategoria:
- Usage Restrictions:
- This is a copyrighted book.