Multi-body Dynamic Modeling of Multi-legged Robots

Multi-body Dynamic Modeling of Multi-legged Robots
Author: Abhijit Mahapatra
Publisher: Springer Nature
Total Pages: 203
Release: 2020-02-27
Genre: Computers
ISBN: 9811529531

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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.


Multi-body Dynamic Modeling of Multi-legged Robots
Language: en
Pages: 203
Authors: Abhijit Mahapatra
Categories: Computers
Type: BOOK - Published: 2020-02-27 - Publisher: Springer Nature

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This book describes the development of an integrated approach for generating the path and gait of realistic hexapod robotic systems. It discusses in detail loco
Multibody System Dynamics, Robotics and Control
Language: en
Pages: 317
Authors: Hubert Gattringer
Categories: Technology & Engineering
Type: BOOK - Published: 2013-01-06 - Publisher: Springer Science & Business Media

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The volume contains 19 contributions by international experts in the field of multibody system dynamics, robotics and control. The book aims to bridge the gap b
Robot and Multibody Dynamics
Language: en
Pages: 512
Authors: Abhinandan Jain
Categories: Technology & Engineering
Type: BOOK - Published: 2010-12-17 - Publisher: Springer Science & Business Media

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Robot and Multibody Dynamics: Analysis and Algorithms provides a comprehensive and detailed exposition of a new mathematical approach, referred to as the Spatia
3D Motion of Rigid Bodies
Language: en
Pages: 474
Authors: Ernesto Olguín Díaz
Categories: Technology & Engineering
Type: BOOK - Published: 2018-12-06 - Publisher: Springer

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This book offers an excellent complementary text for an advanced course on the modelling and dynamic analysis of multi-body mechanical systems, and provides rea
Research on and Behavioral Strategy Planning for Multi-Legged Robots Based on Visual Image Processing
Language: en
Pages: 145
Authors: Zhu Hui-yi
Categories: Technology & Engineering
Type: BOOK - Published: 2022-04-29 - Publisher: Scientific Research Publishing, Inc. USA

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This book focuses on the combination of basic robot theory and application technology, and strives to reflect the new progress in the field of robot research at