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Multi-body dynamic modeling of multi-legged robots
- 作者： Mahapatra, Abhijit, author.
- 其他作者：
- 其他題名：
- Cognitive intelligence and robotics.
- 出版： Singapore : Springer Singapore :Imprint: Springer
- 叢書名： Cognitive intelligence and robotics,
- 主題： Robotics--Mathematical models. , Artificial Intelligence. , Robotics and Automation.
- ISBN： 9789811529535 (electronic bk.) 、 9789811529528 (paper)
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FIND@SFXID:
CGU
- 資料類型: 電子書
- 內容註: 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 -- 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.
- 摘要註: 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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讀者標籤：
- 系統號： 005481217 | 機讀編目格式
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